6results about How to "Guaranteed convergence speed" patented technology

The application discloses a kind of based on space alignment and timing correction multi-intersection adaptive signal control method, belong to traffic signal control field, including: through the traffic detection sensor deployed in intersection, real-time traffic state data are collected and sent to signal lamp controller;According to road network topology, send cooperative data to downstream intersection;Traffic flow and candidate phase set are constructed;The traffic data associated with candidate phase is aggregated as demand value and executes ordering transformation to obtain combination state;To combination state, execute spatial feature alignment processing and map as state feature vector;State feature vector is input into near-end strategy optimization controller, and output target phase and basic phase duration;The traffic flow information of last phase period on upstream intersection is combined to carry out timing correction to basic phase duration;Drive signal lamp hardware to execute and generate reward feedback and update near-end strategy optimization controller parameter.The application realizes the cooperative optimization of multi-intersection traffic signal, improves the traffic efficiency and adaptive capacity.

The application provides a three-dimensional path fuzzy tracking control method for underactuated AUV based on improved integral observer line-of-sight guidance law, which comprises the following steps: step one, a dynamic model of underactuated AUV disturbed by sea current is given, and the model uncertainty part in the dynamic model is separated; step two, a three-dimensional path tracking error model of underactuated AUV disturbed by sea current is constructed; step three, an improved reduced-order observer is designed, and the path tracking uncertainty part caused by sea current disturbance is estimated based on the observer; step four, an improved integral observer guidance law is designed, and an adaptive part in the guidance law is designed; and step five, a controller is designed according to the underactuated AUV tracking error model and a fuzzy logic system. The three-dimensional path tracking control method designed in the application can make the underactuated AUV complete the task requirements of accurate path tracking and rapid convergence under the dynamic disturbance of sea current.

The application discloses a polar code construction method based on genetic algorithm acceleration convergence, which comprises the following steps: step 1, setting parameters; step 2, initial genetic algorithm population; step 3, selecting two parents from the population by using a roulette algorithm; step 4, crossing the two parent information bits to generate offspring; step 5, mutating the unlocked information bits of the offspring by using the non-locked frozen bits; step 6, adding the mutated offspring to the population, selecting the optimal one according to the fitness, updating the population and recording the population information; step 7, repeating steps 3 to 6 until the number of genetic iterations reaches a number of spans, judging whether the optimal fitness decreases to a limit or not, if yes, reducing the number of locked bits, temporarily releasing the channel, repeating steps 3 to 6 until the number of genetic iterations reaches a minimum number of spans, if the optimal fitness decreases and the temporarily released channel changes, updating the channel locking condition according to the temporarily released channel, if no, directly repeating steps 3 to 6; and step 8, ending when the genetic iteration stopping condition is met. The application can solve the problem of slow convergence speed by dynamically locking the channel.

This invention discloses a sliding mode control method and system for tracking the trajectory of a robotic arm. Addressing external disturbances and model uncertainties in the robotic arm system, it proposes an improved non-singular fast terminal sliding mode surface, combined with an adaptive disturbance upper bound estimation strategy, to design a robust controller with finite-time convergence characteristics. Furthermore, it proposes an adaptive boundary layer thickness adjustment method based on the sliding mode surface norm to suppress chattering while ensuring tracking accuracy. Specifically, it includes: establishing a six-degree-of-freedom robotic arm dynamic model; designing a sliding mode surface integrating exponential and fractional power terms; constructing an equivalent control law; designing an adaptive law to estimate the upper bound of the lumped parameter uncertainty; replacing the traditional sign function with an adaptive boundary layer saturation function; and proving the finite-time stability of the closed-loop system using Lyapunov theory. This invention can significantly reduce control input chattering and energy consumption, and is suitable for high-precision motion control scenarios such as industrial manufacturing, medical surgery, and aerospace.

This invention belongs to the field of communication technology and discloses a federated learning method based on partial client participation and power constraints. The method includes: employing biased client selection, setting client addressability and continuously reporting to a central server, allowing the central server to understand the state of each client during iteration; and allocating power across communication time slots by adding a total power constraint, enabling devices to transmit their local updates to the server. This invention addresses the problems of existing technologies by reducing communication costs while maintaining model convergence performance. The proposed design can mitigate the negative impacts caused by imperfect channel conditions. Convergence of the learning process is slowed by power control, while biased client selection accelerates convergence, balancing model aggregation. This invention can guarantee fast convergence under harsh wireless conditions with low signal-to-noise ratios, and is cost-effective in terms of time and energy savings in wireless FL systems.

The invention discloses a sensing-free force position control method for a cable-driven robot. The sensing-free force position control method comprises the steps that (1) a cable-driven robot dynamic model containing unknown disturbing force is established; 2) establishing a control structure for seamless switching between cable force control and pose control; (3) a real-time cable force distribution algorithm meeting given control constraint conditions and any number of ropes is designed, pose estimation is obtained based on a forward kinematics model and a Newton iteration method, and motor torque is solved through a kinetic model and friction force compensation; 4) constructing a state observer for predicting unknown disturbing force and a rapid pose error tracking controller; and 5) designing a cable force compensation optimization algorithm to ensure that the output of the controller is always non-negative. According to the method, force control, position control and seamless switching of the force control and the position control of the cable-driven robot are achieved under the sensor-free condition, and the problem that the force control and the position control of the cable-driven robot depend on a force or torque sensor is effectively solved.