2results about How to "Ensure control" patented technology

The application discloses a multi-four-rotor safety formation control method and system based on event triggering and anti-self-locking, and the multi-four-rotor safety formation control method comprises the following steps: establishing an underactuated four-rotor unmanned aerial vehicle dynamics model under external uncertainty, establishing a multi-four-rotor unmanned aerial vehicle formation, constructing an expected formation trajectory model, and designing multi-four-rotor unmanned aerial vehicle collision avoidance constraints; designing an outer loop formation controller based on event triggering; generating expected angular velocity and angular acceleration of the four-rotor unmanned aerial vehicle by using a designed differential flatness method; and designing a Lie algebra attitude controller for realizing global attitude stabilization and compensating for attitude uncertainty in a limited time. The application adopts a control barrier function to realize safety constraints, including collision avoidance and direct collision avoidance of robots, so as to avoid self-locking of an output of the control barrier function due to falling into a local optimum, and further avoid failure of the safety formation. The application proposes an event-triggered control barrier function to solve the self-locking problem.

This application discloses an automated vehicle window ventilation and temperature regulation method and system based on fuzzy control, belonging to the field of automated vehicle window control technology. The method includes: real-time acquisition of in-vehicle and out-of-vehicle environmental data, preprocessing to obtain preprocessed in-vehicle and out-of-vehicle environmental data; inputting the preprocessed in-vehicle and out-of-vehicle environmental data into a fuzzy control system to construct a fuzzy rule base for the fuzzy control system; optimizing the fuzzy control system based on the Zebra optimization algorithm and the preprocessed in-vehicle and out-of-vehicle environmental data to obtain an optimized fuzzy control system; and dynamically adjusting the opening and closing degree of the vehicle window through a window motor actuator using the optimized fuzzy control system based on subsequently obtained in-vehicle and out-of-vehicle environmental data. This application, based on in-vehicle and out-of-vehicle environmental data and combined with a fuzzy control system for optimized control, overcomes the shortcomings of existing technologies in complex environment adaptability, multi-objective optimization capability, and global convergence performance, achieving efficient and precise vehicle window ventilation and temperature regulation.