In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

本文研究了一种事件触发的积分滑模固定时间控制方法，该方法解决了带有干扰的自动水下航行器的轨迹跟踪问题。最初，通过用于参考轨迹跟踪的常规周期性采样方法来确保全局固定时间稳定性。通过引入固定时间积分滑模流形，表达了水下机器人的固定时间控制策略，可以有效消除奇异性。相应地，为了减少颤振现象造成的损害，提出了一种基于设计的连续积分终端滑模（ITSM）的自适应固定时间方法，以确保在固定时间下不受外部干扰地实现AUV的轨迹跟踪。 。为了减少传输网络过程中的资源消耗，设计了事件触发的滑模控制策略，该条件由事件触发。同样，通过理论证明也可以避免芝诺的行为。结果表明，稳定时间的上限仅取决于控制器的参数。理论分析和仿真实验结果表明，所提出的方法可以实现控制对象。