2results about How to "Consistency and stability" patented technology

The application provides a fiber-optic Fabry-Perot sensor based on light beam convergence and a manufacturing method thereof, and relates to the technical field of semiconductors. The sensor comprises a diaphragm layer, an intermediate layer and a bottom layer which are arranged in layers; the diaphragm layer is provided with a first groove, the intermediate layer is attached to the diaphragm layer in a manner that a first layer surface thereof faces the first groove, so as to form a Fabry-Perot cavity based on the first groove; the bottom layer is provided with a second groove, the intermediate layer is attached to the bottom layer in a manner that a second layer surface thereof faces the second groove, so as to form a nano-containing cavity based on the second groove; the second layer surface of the intermediate layer is formed with a micro-nano anti-reflection structure comprising array-distributed anti-reflection units located in the nano-containing cavity; and the bottom layer is formed with a micro-nano collimation structure comprising array-distributed collimation units located in the nano-containing cavity and in a symmetrical positional relationship with the micro-nano anti-reflection structure. The application at least reduces the manufacturing complexity.

The application provides a kind of unmanned ship consistency control method and equipment, it is related to unmanned system cooperative control technical field.The method comprises: according to the real-time state of the unmanned ship and the state of the unmanned ship at last event trigger time, construct real-time local measurement error;According to the state of the unmanned ship at last event trigger time and the state of all adjacent unmanned ships of the unmanned ship, construct joint error;Based on the real-time local measurement error and joint error of each unmanned ship, judge whether event trigger condition is satisfied, when any unmanned ship satisfies event trigger condition, obtain and according to the state of the unmanned ship at event trigger condition satisfying time, the state of the adjacent unmanned ship of the unmanned ship and unmanned ship controller gain matrix, update the controller output of the unmanned ship and the adjacent unmanned ship of the unmanned ship, carry out consistency control to each unmanned ship according to controller output;The application can accurately and safely carry out multi-unmanned ship consistency control under the condition that system model is unknown.