Fixed-Time Robust Path-Following Control for Underwater Snake Robots with Extended State Observer and Event-Triggering Mechanism

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Abstract
Aiming at the robust path-following control problem of underwater snake robot (USR) systems subject to modeling uncertainties and time-varying external disturbances, this paper proposes a robust path-following control algorithm based on a fast fixed-time extended state observer (FTESO). First, a fixed-time stability framework with a shorter settling time than existing systems is introduced, and a novel extended state observation system based on the fixed-time stability framework is constructed. Subsequently, by combining the disturbance estimates from the proposed observer with a nonsingular fast fixed-time path-following controller, a robust fixed-time path-following controller is developed. This control strategy incorporates a dynamic event-triggering mechanism, which accomplishes the path-following task while conserving computational resources. The fixed-time convergence of the closed-loop control system is rigorously proved using Lyapunov stability theory. Furthermore, a novel head joint suppression function is designed to reduce the probability of losing the tracking target. Simulation results demonstrate that, compared with conventional control methods, the proposed approach exhibits superior tracking performance and enhanced disturbance rejection capability in complex underwater environments.

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