针对四自由度水下机器人搭载二自由度机械臂的水下机器人-机械手系统,设计一种基于固定时间扰动观测器的积分滑模控制方法.利用固定时间特性，设计固定时间扰动观测器实现对δ建模动态与外部扰动的观测，并设计了一种基于积分滑模的固定时间轨迹跟踪控制策略.仿真研究表明，设计的控制方法可在固定时间内使水下机器人-机械手系统末端执行器精准跟踪期望轨迹，且收敛时间与初始状态无关.该研究为具有δ建模动态与外界扰动情况下的水下机器人-机械手系统末端执行器轨迹跟踪控制问题提供了一种有效的解决方法.

An integral sliding mode control method based on fixed time disturbance observer was designed for a 4-DOF underwater vehicle-manipulator system with a 2DOF manipulator. Based on the fixed time characteristics, a fixed time disturbance observer was designed to observe the unmodeled dynamics and external disturbances, and a fixed time trajectory tracking control strategy based on integral sliding mode was designed. The simulation results show that the designed control method can make the end effector of the underwater robot manipulator system track the desired trajectory accurately in a fixed time, and the convergence time is independent of the initial state. This study provides an effective solution to the trajectory tracking control problem of the end effector for the underwater robot manipulator system with unmodeled dynamics and external disturbances.