To deal with the problems of low positioning accuracy and poor stability caused by model parameter uncertainty and external disturbances in the remotely operated vehicle (ROV) dynamic positioning control system, the adaptive fuzzy control is combined with a disturbance observer to estimate the lumped disturbances and the error compensation mechanism is introduced to design the ROV dynamic positioning controller based on the finite-time command filter. The combination of finite-time command filter control and the backstepping method ensures that the positioning error converges to a smaller neighborhood near zero in finite time. The stability of the closed-loop system is demonstrated according to the Lyapunov stability theory. The simulation results show that a 13% performance improvement over traditional backstepping methods is achieved by the designed controller, effectively suppressing system lumped disturbances and achieving fast and accurate positioning of the desired positions.

中文翻译：

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基于扰动观测器的遥控车辆动态定位有限时间指令滤波控制

针对遥控潜水器(ROV)动力定位控制系统中模型参数不确定性和外界干扰导致的定位精度低、稳定性差的问题，将自适应模糊控制与扰动观测器相结合，对集总扰动进行估计，引入误差补偿机制，设计基于有限时间指令滤波器的ROV动力定位控制器。有限时间指令滤波器控制与反步法的结合保证了定位误差在有限时间内收敛到接近于零的较小邻域。根据Lyapunov稳定性理论证明了闭环系统的稳定性。仿真结果表明，所设计的控制器比传统反步方法性能提高了13%，有效抑制了系统集总扰动，实现了快速、准确的目标位置定位。