51results about How to "Guaranteed asymptotic stability" patented technology

The invention discloses a tracking fault-tolerant control method for a linear multi-agent system based on sliding mode control. A fault-tolerant control method based on the sliding mode control methodand adaptive control is proposed for the actuator fault of the linear multi-agent tracking system with external disturbance. Aiming at the actuator partial failure fault that may occur in the agent,the state error variable is defined according to the communication topology between multi-agents, the integral sliding mode surface is designed based on the error variable and sufficient conditions for sliding mode asymptotic stability are given. Then the unknown upper bound of the actuator fault is estimated by the adaptive method, and a sliding mode fault-tolerant controller is proposed to guarantee the tracking stability of the multi-agent system. The integral sliding mode surface is designed according to the state error variable between the multi-agents and the robustness of the system isenhanced, and the fault-tolerant control law having good fault-tolerant ability when the system has partial actuator failure fault and external disturbance is put forward and the tracking stability ofthe multi-agent system is improved. The fault-tolerant control method is used for fault tolerant control of the linear multi-agent system with the actuator failure fault and the external disturbance.

The invention provides a tracking control method of plane paths of a self-managing airship. The method comprises the following steps of: (1) giving an expected track value; giving an expected plane path; giving an expected pitch angle Theta c and an expected rolling angle Phi c; and giving an expected speed; (2) calculating navigation: calculating and removing an expected yaw angle Psi c needed by an error between an expected position and an actual position; (3) controlling and calculating a posture kinesiology: calculating and removing an expected angle speed Omega c needed by the error between an expected posture and an actual posture; (4) horizontally and longitudinally disintegrating a kinesiology: horizontally and longitudinally disintegrating a kinetic equation and an expected speedvalue; (5) longitudinally controlling and calculating the kinesiology: calculating and removing a control quantity mu 1on needed by the error between an expected longitudinal speed and an actual longitudinal speed; and (6) horizontally controlling and calculating the kinesiology: calculating and removing the control quantity mu 1at needed by the error between an expected horizontal speed and an actual horizontal speed. By the method of the invention, any parameter plane paths can be tracked for ensuring the stable property of a closed-ring system and simplifying the control calculation.

The invention discloses a man-machine co-driving type electric power steering system based on a hybrid theory and a control method, and belongs to the field of unmanned steering of an intelligent car. The man-machine co-driving type electric power steering system comprises a front torque / angle sensor, a rear torque / angle sensor, a man-machine co-driving type electric power steering hybrid controller, a switching monitoring controller, a steering motor, a steering shaft, a speed reduction mechanism and a gear and rack mechanism. The invention further provides the control method for the man-machine co-driving type electric power steering system based on the hybrid theory, a man-machine co-driving type electric power steering system steering adjustment control system in the optimal operation state is built based on a hybrid switching system, a complex problem in the whole operation project is decomposed into a synthesis of control problems under single work conditions, and therefore complex modeling and control of the man-machine co-driving type electric power steering system are realized. The control system is high in stability, the control method is easy to realize, and different steering conditions of the car can be met.

The invention provides a saturation problem moving body attitude event-triggered control method with an actuator. The steps are listed as follows: 1, expected tracking values are given: expected attitude angles phi<d>, theta<d> and psi<d>, and expected attitude angle speed p<d>, q<d>, r<d>; 2, attitude angle tracking error is calculated: attitude angle error phi<e>, theta<e> and psi<e>, and attitude angle speed error q<e>, p<e> and r<e>; 3, an event-triggered controller is designed: feedback gain K<c> is calculated; 4, event-triggered controller output quantity y<c> for eliminating the attitude angle is calculated; and event conditions are designed; 5, control quantity limit is given: saturation control quantity sat(mu) for eliminating the expected attitude angle and attitude angle speed error is calculated; 6, an LQ anti-saturation control compensator is designed: the feedback terms v<aw> and y<aw> of correction control quantity and state quantity are calculated; and 7, input and output mu<c,aw> and y<c,aw> of an event-triggered controller after correction of the LQ anti-saturation control compensator are calculated and applied to a moving body control model. According to the method, problems of actuating mechanism saturation and system data load can be solved, any expected attitude can be tracked and closed loop system asymptotical stability can be guaranteed.

Provided is an event-driven synchronous fault detection and control method for unmanned surface vehicles. The invention relates to a fault detection and control method for unmanned surface vehicles. The objective of the invention is to solve the problems of high cost, high bandwidth occupancy rate of network communication of the SFDC module, high energy consumption of data transmission and waste of energy in the existing fault detection and control of unmanned surface vehicles carried out separately. The method includes the following steps: (1) establishing a state space equation of an unmanned surface vehicle system; (2) designing an integral event-driven SFDC module, and establishing an augmented residual system under event-driven conditions; (3) designing a gain matrix of the integral event-driven SFDC module, and obtaining a residual signal and a control input; (4) designing an integral event-driven mechanism to bring the gain matrix into existence; (5) designing a residual evaluation function; and (6) designing a residual evaluation function threshold to complete fault detection of an unmanned surface vehicle. The scheme is used in a synchronous fault detection and control method for unmanned surface vehicles.

A stratospheric satellite planar path tracking control method based on vector field guidance includes the steps of 1, giving an expected tracking value, giving an expected planar path, giving an expected speed and calculating resistance resultant Ff borne at the expected speed; 2, performing navigation calculation, to be specific, calculating an expected yaw angle Psi<d> required by elimination of an error between an expected position and an actual position; 3, calculating a path tracking yaw angle error, to be specific, calculating an error between the expected yaw angle and an actual yaw angle; 4, performing sliding mode controller calculation, to be specific, calculating a control quantity u required for the elimination of the error between the expected yaw angle and the actual yaw angle; and 5, calculating a control signal of each actuator, to be specific, calculating an actuator control quantity T, Nu required for implementation of the sliding mode control quantity u. The control process is described in attached figures.

The invention discloses a nonlinear active suspension fault-tolerant tracking control method based on a proportional integral observer. The method comprises the steps that firstly, a half vehicle suspension model based on a Takagi-Sugeno (T-S) fuzzy model is built for describing the uncertainty of a model of a suspension system; secondly, on the basis of the model, a robust H infinite output feedback controller is developed for enhancing the performance of a suspension in the normal actuator mode, and the output response of the controller is regarded as an ideal reference trajectory; finally,the proportional integral observer is designed for online and accurate estimation of actuator faults, and an active tolerant tracking controller is further designed for compensating for performance loss caused by the actuator faults; the method is used for nonlinear active suspension control over the actuator faults, and the problem that external uncertain interference and actuator faults cannot be dealt with is solved.

The invention discloses a control method of an MEMS (micro-electromechanical system) micro-gyroscope based on direct self-adaptive fuzzy control. A control system of the MEMS micro-gyroscope based on direct self-adaptive fuzzy control comprises a direct self-adaptive fuzzy controller, and is characterized in that: the direct self-adaptive fuzzy controller comprises a basic fuzzy controller which is built by a fuzzy logic system and is used for approximating an ideal controller of the MEMS micro-gyroscope, and a D (digital) controller which is used for ensuring that the state of a gyroscope system is bounded. In the control system of the MEMS micro-gyroscope based on direct self-adaptive fuzzy control, the direct self-adaptive fuzzy control method is applied to gyroscope control. The knowledge and the experience of experts can be combined with the fuzzy controller, and parameters in the fuzzy system are self-adaptively adjusted by a Lyapunov-based method, thereby the stability of the fuzzy control system is ensured. The fuzzy controller can be widely applied to the MEMS gyroscope control to improve the stability and the reliability of the system, and has great value in use in industry.

The invention discloses a dual-motor torque synchronization model predictive control method based on a quadratic value function. The method comprising steps of establishing a unified prediction modelby taking a dual-motor system that drives the same heavy load through two motors as an object, by taking the synchronization performance between motor output torques as a main control target, and bytaking the current values of respective motors and the torque synchronization error between the motors as state variables; using the unified prediction model to obtain state variable predicted values,and enabling multiple control variables to be included in the same error vector by using the quadratic value function in order that only one weight coefficient matrix to be solved is in the value function; and calculating the optimal weight coefficient matrix by using a weight coefficient matrix offline solution algorithm, and using the optimal weight coefficient matrix in a finite set model predictive control process of a dual-motor torque synchronization system. The method ensures the convergence of the error vector and the asymptotic stability of the system, not only improves the torque synchronization performance of the dual-motor system, but also improves the dynamic and steady tracking performance of the two motors.

The present invention discloses a robust-adaptive neural network H-infinity control method of a MEMS gyroscope. A controller is designed based on a Riccati equation, and includes two parts of a basic neural network controller constructed by utilizing a strong online approximating capability of the neural network and a robust control item used for overcoming influences of external disturbance and parameter uncertainty on MEMS gyroscope system output tracking errors and ensuring system closed-loop stabilization. Parameters in a adaptive adjustment neural network system based on a Lyapunov stability theory are adopted, thus to ensure stability of the system. The controller is based on the Riccati equation, such that non-linear phenomena in the system are compensated, the precise tracking aim is achieved, stability of the system and robustness to external disturbance are raised, and industrial utility values are achieved.

The invention discloses an indirect adaptive neural network sliding-mode control method for a micro-gyroscope system. On the one hand, a neural network approximates an unknown terms in the micro-gyroscope system, and the advantage is that an accurate model of the system is not required to be known; and on the other hand, the neural network approximates an upper-bound value with external interference and parameter uncertainty in an on-line manner, switch terms in a sliding-mode controller can be serialized through on-line approximation to the upper-bound value, and buffeting can be greatly reduced. According to the sliding-mode control method, an integral term is added into the design of a sliding-mode surface to overcome a problem of a large steady-state error of the traditional sliding mode, and the robustness of the system is enhanced; and meanwhile, and the weight of the neural network is designed on the basis of a Lyapunov stability theorem, so that the overall stability of the system is ensured.

The invention discloses an event-driving-based fault-tolerant control method under network attack of an unmanned surface vehicle and relates to a fault-tolerant control method under the network attackof an unmanned surface vehicle, thereby solving problems of high network communication bandwidth occupancy rate and high data transmission energy consumption in the existing unmanned surface vehiclesystem. The method comprises the following steps: step one, establishing a state space equation of an unmanned surface vehicle system according to a kinematics equation of the unmanned surface vehicle; step two, introducing a random spoofing attack based on the state-space equation of the unmanned surface vehicle system and establishing a mathematical model of the random spoofing attack; step three, establishing a state space equation of the unmanned surface vehicle system with the spoofing attack introduced according to the mathematical model of the random spoofing attack; step four, designing a fault-tolerant controller gain matrix based on dynamic event driving; and step five5, designing a dynamic event driving mechanism based on the dynamic-event-driving-based fault-tolerant controllergain matrix. The method is used for fault-tolerant control under the network attack of the unmanned surface vehicle.

The invention provides a moving robot trajectory tracking control method based on event trigger. The moving robot trajectory tracking control method includes the steps that (1) a motion equation of amoving robot and a dynamic equation of a reference robot are established, and a dynamic equation of tracking errors is obtained by introducing an error coordinate system; (2) control input is designedand a state measurement error of control input is given; (3) event trigger conditions are designed to stabilize an error dynamic system, and the moving robot can track the trajectory of the referencerobot; (4) the event trigger conditions in the step (3) are calculated, if the event trigger conditions are met, an event is triggered, and the controller state is updated; and otherwise, updating isnot conducted; and (5), the step (2) is returned. The moving robot trajectory tracking control method based on event trigger has the advantages that an event trigger mechanism is added to system control input, asymptotic stability of a system is ensured, thus the robot can track the given reference robot trajectory, the number of sampling in system control is reduced, resource consumption is reduced, and the utilization rate is increased.

The invention, which belongs to the field of automation, relates to an optimal synchronous control method of a coupled fractional order chaotic electromechanical device. A synchronous model of a fractional-order electromechanical device with mutually coupled capacitance and resistance is established, and a phase diagram shows that dynamic behaviors of the fractional-order electromechanical deviceare closely related to physical parameters, coupling coefficients and fractional orders. In order to transfer a driven system from an original track to a track of a driving system, the invention provides an optimal synchronous control method consisting of a self-adaptive feedforward controller and an optimal feedback controller. The invention provides a feedforward controller for estimating an unknown function of a dynamic system under a framework combining a fractional order backstepping method with a hierarchical 2-type fuzzy neural network. Meanwhile, an adaptive dynamic planning method isprovided to solve the zero and differential game problem in the optimal feedback controller. According to the invention, asymptotic stability of a closed-loop system is ensured, optimal synchronization is realized, and a cost function is minimized.

The invention discloses a spacecraft rendezvous fault diagnosis and filter design method based on event driving, and relates to the spacecraft rendezvous fault diagnosis and filter design method. Theinvention aims to solve the problems of high bus bandwidth occupancy rate and high data transmission energy consumption in the conventional spacecraft rendezvous system. The method comprises the following steps: 1, establishing a state space model of a spacecraft rendezvous system; 2, designing a weighted fault function; 3, designing an FDF gain matrix based on dynamic event driving, and establishing an augmented residual error system under the event driving condition; 4, obtaining a residual signal and control input according to the gain matrix of the FDF; 5, designing a dynamic event drivingmechanism to enable the gain matrix obtained in the step 3 to be established; 6, designing a residual evaluation function according to the residual signal; and 7, designing a residual evaluation function threshold, and completing fault diagnosis of the spacecraft rendezvous system according to the residual evaluation function. The method is applied to the field of spacecraft rendezvous fault diagnosis and filter design.

The invention discloses a micro-gyroscope self-adaptive dynamic sliding mode control system based on an inversion design and a method. The method includes the following steps: (1) establishing a micro-gyroscope math model; (2) based on the inversion design, obtaining a self-adaptive dynamic sliding mode controller; (3) carrying out a simulating experiment so as to obtain a target system. System robustness and sensitivity to parameter change are improved and system buffet is effectively reduced; in a self-adaptive design, through parameter estimation of a micro-gyroscope sensor, a parameter of a controlled object is obtained so that global asymptotic stability of the whole closed-loop system is ensured; and after a stable mode is reached, a dynamic characteristic of the micro gyroscope is an ideal mode so that manufacturing errors and environment interferences are compensated for.

The invention provides an under-actuated spacecraft hovering sliding mode control method losing radial control, which establishes a dynamics model by targeting the hovering control problem of the driving spacecraft. The under-actuated spacecraft hovering asymptotic control method comprises steps of analyzing system energy control performance under an under-actuated condition of losing radial control acceleration on the basis of the dynamics model, providing a hovering orientation feasible set under the condition, and adopting a sliding mode control method to design the close-loop control law under the radial under-actuated condition with the model as the controlled object. The under-actuated controller can drive the tracing spacecraft to gradually advance to and maintain steady at the feasible hovering orientation, the closed loop system has good robustness and dynamic performance on the external perturbation and the model error, and solves the under-actuated spacecraft hovering control problem which losses the radial control acceleration.

The invention discloses an underwater robot motion path tracking method based on sliding mode robust control, and belongs to the technical field of robots. According to the invention, unknown ocean current and other external bounded interferences are considered; the latest technology of path tracking control is expanded; under the condition that a target attitude measurement value is given, the linear velocity and the angular velocity of the target are estiminated by using a Kalman filter; the robustness of bounded interference is realized by adopting sliding mode control; interference is directly compensated by using an interference observer to calculate an estimated value, so that an underwater robot is enabled to converge to a motion path more quickly; the technical problem in guaranteeing asymptotic stability of a path tracking error under the condition that the underwater robot is subjected to bounded interference and target speed estimation is inaccurate is solved, and the globalasymptotic stability of underwater robot path tracking control is guaranteed under the condition that target speed and environmental disturbance have bounded estimation errors.

The invention discloses a low-complexity and adaptive saturation control method for a nonlinear system. The control method comprises the following steps of: firstly, converting control saturation nonlinearity into a linear model relative to an actual input signal by adopting a dead zone model; then, converting an original system with time-varying output constraint into unconstrained output constraint, and designing a new adaptive saturation control law along the filtered error manifold based on the system; and finally, by adopting the minimum learning parameter technology and the virtual errorconcept, only requiring update of two adaptive parameters on line to greatly reduce the calculation burden. Compared to the current work, the calculation amount of the adaptive scheme is small, and the asymptotic stability of the tracking error system can be ensured instead of the consistent final bounded stability. The adopted simulation shows that an improvement of about 4 times in tracking accuracy can be obtained, which demonstrates the effectiveness of the proposed control law.

The invention provides an under-actuated spacecraft hover sliding mode control method suitable for lacking of trace control. A kinetic model is established by aiming at the problem of under-actuated spacecraft hover control. System controllability under the under-actuated condition of lacking of trace control acceleration is analyzed based on the kinetic model, and a hover direction feasible set under the condition is given. The model acts as a controlled object, and a closed-loop control law under the trace under-actuated condition is designed by adopting the sliding mode control method. The under-actuated controller can drive a tracking spacecraft to be asymptotically stabilized to the given feasible hover direction, and the closed-loop system has great robustness and dynamic performance of external perturbation and model error so that the problem of under-actuated spacecraft hover control for lacking of trace control can be solved.

The invention provides a heat exchanger temperature fuzzy control method and system based on a 2D model. The method comprises the steps: establishing a dynamic evolution model of a heat exchanger temperature control system; representing the dynamic characteristics of the original controlled system by using a T-S fuzzy 2D system; measuring an output signal of the system, designing a fuzzy fixed-order output feedback controller, and giving a parameterization design method of the fuzzy controller in a unified convex optimization framework by utilizing a system augmentation technology. According to the method, the heat exchanger temperature control system is described based on the 2D dynamic model, and the evolution characteristics of the system state in time and space can be better reflected.Fuzzy fixed-order output feedback controller is designed. A fuzzy fixed-order output feedback controller can effectively control the heat exchanger system only by using the output signal of the system, improves the robust anti-interference performance of the system, and effectively expands the application range of the fuzzy fixed-order output feedback controller.

The invention provides a tracking control method of plane paths of a self-managing airship. The method comprises the following steps of: (1) giving an expected track value; giving an expected plane path; giving an expected pitch angle Theta c and an expected rolling angle Phi c; and giving an expected speed; (2) calculating navigation: calculating and removing an expected yaw angle Psi c needed by an error between an expected position and an actual position; (3) controlling and calculating a posture kinesiology: calculating and removing an expected angle speed Omega c needed by the error between an expected posture and an actual posture; (4) horizontally and longitudinally disintegrating a kinesiology: horizontally and longitudinally disintegrating a kinetic equation and an expected speedvalue; (5) longitudinally controlling and calculating the kinesiology: calculating and removing a control quantity mu 1on needed by the error between an expected longitudinal speed and an actual longitudinal speed; and (6) horizontally controlling and calculating the kinesiology: calculating and removing the control quantity mu 1at needed by the error between an expected horizontal speed and an actual horizontal speed. By the method of the invention, any parameter plane paths can be tracked for ensuring the stable property of a closed-ring system and simplifying the control calculation.

The invention discloses a self-adaptation fuzzy control method for a micro gyroscope based on dead zone compensation, wherein a designed self-adaptation fuzzy compensator performs compensation to nonlinear influence of the dead zone before actual control input, the self-adaptation fuzzy compensator is composed of a fuzzy logic system, estimates a dead zone boundary in real time and adjusts the parameter of the compensator in an self-adaptation manner; a robust control term ensures that the system has excellent robustness for external disturbance and model uncertainty, the system has a steady closed loop, and the tracking error is converged to zero quickly. The self-adaptation fuzzy compensator can be widely used for the control of a micro gyroscope, so that the stability and reliability of the system are improved, and the compensator has the industrial utilization value.

The invention discloses an attitude control method of a flexible spacecraft. The attitude control method comprises the following steps: establishing a kinematics model and a dynamics model of the flexible spacecraft with multi-source interference; adopting two groups of T-S fuzzy models to perform modeling on second interference described by the flexible spacecraft system and the exogenous nonlinear system; constructing a flexible vibration observer for estimating a flexible mode, and constructing a fuzzy disturbance observer with an asynchronous prerequisite variable for obtaining an estimated value of external disturbance modeled by the T-S fuzzy model, and respectively obtaining a flexible mode error system and a disturbance error system; and based on the output value of the observer, designing an event-triggered anti-interference controller for controlling the attitude of the flexible spacecraft. According to the method, the influence of flexible vibration and multi-source interference on the flexible spacecraft can be effectively reduced, vibration suppression and attitude stabilization are realized, the anti-interference capability of the spacecraft is improved, communication resources can be saved, and the method is suitable for attitude control of the flexible spacecraft.

The invention discloses an active suspension system fuzzy control method for improving comfort based on frequency domain characteristics, belongs to the technical field of automobile suspension control, and relates to the problem of how to enable an automobile active suspension closed-loop control system to be asymptotically stable and have an optimal finite frequency domain disturbance suppression performance index so as to improve the riding comfort of an automobile. The method comprises the following steps: firstly, establishing a dynamic equation of the automobile active suspension system, and establishing a Takagi-Sugeno (T-S) fuzzy model of the automobile active suspension system by considering the change condition of automobile load bearing; designing a distributed compensation fuzzy controller to obtain a closed-loop suspension control system; providing a finite frequency domain disturbance suppression performance index for depicting the human body comfort; and based on a Lyapunov stability theory and a linear matrix inequality technology, proving the stability of a closed-loop active suspension system and the disturbance suppression performance of a finite frequency domain. According to the technical scheme, the disturbance suppression performance of the suspension control system is effectively enhanced according to the human body sensitive frequency domain characteristic information under the condition that the load bearing change of the automobile is complicated, so that the riding comfort of the automobile is improved.

The invention relates to an optimal synchronous control method for a coupled fractional-order chaotic electromechanical device, which belongs to the field of automation. A synchronization model of fractional-order electromechanical devices with capacitive-resistance coupling is established, and the phase diagram shows that its dynamic behavior is closely related to physical parameters, coupling coefficients and fractional orders. In order to transfer the passive system from the original track to the track of the active system, an optimal synchronization control method consisting of an adaptive feedforward controller and an optimal feedback controller is proposed. Under the frame of combining fractional backstepping method and hierarchical type 2 fuzzy neural network, a feedforward controller for unknown function estimation of dynamic system is proposed. At the same time, an adaptive dynamic programming method is proposed to solve the zero-sum differential game problem in the optimal feedback controller. The invention not only ensures the asymptotic stability of the closed-loop system, realizes optimal synchronization, but also minimizes the cost function.

The invention discloses a man-machine co-driving type electric power steering system based on a hybrid theory and a control method, and belongs to the field of unmanned steering of an intelligent car. The man-machine co-driving type electric power steering system comprises a front torque / angle sensor, a rear torque / angle sensor, a man-machine co-driving type electric power steering hybrid controller, a switching monitoring controller, a steering motor, a steering shaft, a speed reduction mechanism and a gear and rack mechanism. The invention further provides the control method for the man-machine co-driving type electric power steering system based on the hybrid theory, a man-machine co-driving type electric power steering system steering adjustment control system in the optimal operation state is built based on a hybrid switching system, a complex problem in the whole operation project is decomposed into a synthesis of control problems under single work conditions, and therefore complex modeling and control of the man-machine co-driving type electric power steering system are realized. The control system is high in stability, the control method is easy to realize, and different steering conditions of the car can be met.

The invention provides a saturation problem moving body attitude event-triggered control method with an actuator. The steps are listed as follows: 1, expected tracking values are given: expected attitude angles phi<d>, theta<d> and psi<d>, and expected attitude angle speed p<d>, q<d>, r<d>; 2, attitude angle tracking error is calculated: attitude angle error phi<e>, theta<e> and psi<e>, and attitude angle speed error q<e>, p<e> and r<e>; 3, an event-triggered controller is designed: feedback gain K<c> is calculated; 4, event-triggered controller output quantity y<c> for eliminating the attitude angle is calculated; and event conditions are designed; 5, control quantity limit is given: saturation control quantity sat(mu) for eliminating the expected attitude angle and attitude angle speed error is calculated; 6, an LQ anti-saturation control compensator is designed: the feedback terms v<aw> and y<aw> of correction control quantity and state quantity are calculated; and 7, input and output mu<c,aw> and y<c,aw> of an event-triggered controller after correction of the LQ anti-saturation control compensator are calculated and applied to a moving body control model. According to the method, problems of actuating mechanism saturation and system data load can be solved, any expected attitude can be tracked and closed loop system asymptotical stability can be guaranteed.