45results about How to "Guaranteed global asymptotic stability" patented technology

The invention discloses a dynamic sliding-mode control system of a miniature gyroscope. The miniature gyroscope is controlled by using a dynamic sliding-mode control method based on a dynamic switching function, discontinuous terms are transferred to first-order control derivatives to obtain a time-continuous dynamic sliding-mode control law, buffeting of the system is reduced, expectation in terms of trajectory tracking of the miniature gyroscope and global asymptotic stability of the system are guaranteed, and robustness and flexibility of the system are improved. The system particularly comprises a controller, an integration link, the miniature gyroscope, a first-order derivation link, a second-order derivation link and an adder. The dynamic sliding-mode control system of the miniature gyroscope has the advantages that a dynamic characteristic of the miniature gyroscope becomes an ideal mode after the miniature gyroscope is stable, and manufacture errors and environmental disturbance are compensated; the global asymptotic stability of the integral closed-loop system can be guaranteed by a dynamic sliding-mode control algorithm designed by using the method based on the dynamic switching function; and owing to dynamic sliding-mode control, robustness of the system to change of parameters is improved, and buffeting of the system is reduced.

The invention discloses an inversion adaptive fuzzy sliding mode control method for a micro gyroscope. On the basis of advantages of inversion design and Lyapunov stability theory proof, the control law of the system is obtained step by step through a regression method, the fuzzy control does not need to rely on a mathematical model of a controlled object, the adaptive algorithm and the fuzzy control algorithm are combined, the defect that the fuzzy control cannot conduct parameter adjustment in time is overcome, a controller has the learning capacity, and in the control process, parameters have the self-learning and adjustment capacity. According to the method, the tracking performance of the micro gyroscope system can be effectively improved, the overall stability of the system is ensured, the robustness and the reliability of the system are improved, and the dependency on a controlled system model is avoided.

The invention discloses an adaptive fuzzy sliding mode controller for a micro gyroscope, which is characterized by comprising an adaptive fuzzy control system based on a reference module, and a switching control system. In the adaptive fuzzy control system, a sliding mode surface is used as the input of the fuzzy controller, and the weight is automatically adjusted by a dynamic adaptive law so as to realize fuzzy approximation to an equivalent control law. The adaptive fuzzy sliding mode controller for the micro gyroscope of the invention has the following benefits that: when the system is in a steady state, the dynamic performance of the micro gyroscope is an ideal mode, and the manufacturing error and the environment interference are compensated; an adaptive algorithm designed based on a Lyapunov method can ensure the global asymptotic stability of the whole closed-loop system; and with adaptive adjustment on the upper bound of the approximation error, buffeting is reduced obviously.

The invention provides an angular velocity estimation based self-adaptive fuzzy sliding mode control method, applies the self-adaptive fuzzy sliding mode control method to a micro three-axis gyroscope control system, and can realize the trajectory tracking control and parameter estimation of a micro gyroscope system. According to the self-adaptive fuzzy sliding mode control method, a controller is designed on the basis the state-space equation of a micro gyroscope. Firstly, on the basis of the sliding mode controller, a novel self-adaptive identification method is designed, and the angular velocity of the micro gyroscope and the estimated valves of other systematic parameters are updated on line and in real time; besides, a fixed gain in a sliding mode control toggle item is adjusted by virtue of a self-adaptive fuzzy system, and fuzzy approximation is performed to the upper bound of the fixed gain, so that a chattering phenomenon arising in sliding mode control can be reduced. Through the adoption of the self-adaptive fuzzy sliding mode control method, a favorable tracking performance can be obtained, and the self-adaptive fuzzy sliding mode control method has robustness in parameter variation and external disturbance.

An adaptive wind-resistant path tracking control method for an unmanned airship, the steps are as follows: 1. Given expected tracking value: given expected plane path; given expected speed; 2. Adaptive integral guidance calculation: calculated to eliminate the difference between expected position and actual The desired yaw angle and wind field estimation value required for the error between positions; 3. Yaw angle tracking control calculation: calculate the rudder control amount required to eliminate the error between the expected yaw angle and the actual yaw angle; 4. Relative Speed ​​tracking control calculation: Calculate the propeller control amount required to eliminate the error between the desired speed and the actual speed. The control flow is shown in the accompanying drawing.

The invention provides a linear-feedback global stabilization method for controlling a limited spacecraft rendezvous control system and relates to a controller design method of the spacecraft rendezvous control system. A thruster arranged on a chasing spacecraft can only provide finite thrust, so that the system must face the problem of control limitation. The control quality is reduced or even the system instability is generated if the problem is ignored. Aiming at the defect of the prior art, a linear state feedback-based global stabilization control law is provided and an optimal selection scheme of control law parameters is given, so that the condition that a closed-loop system has a fastest convergence speed is ensured. The linear-feedback global stabilization method has the advantages that: firstly, the provided control law is linear and is convenient to design and implement; secondly, the global asymptotic stability of the closed-loop system is ensured; and finally the optimal parameters are given to ensure that the closed-loop system has the fastest convergence speed. The linear-feedback global stabilization method is used for the field of spacecraft rendezvous control.

The invention provides a method for inhibiting the velocity fluctuation of an electric vehicle driving system. The method comprises the following steps: obtaining a rotor position by adopting an encoder, and transmitting the rotor position to a velocity control ring; and adopting a parallel mode combining a prediction PI joint controller, a repetitive controller and a nonlinear adaptive feedback observer by the velocity control ring, adopting the parallel mode of the prediction PI joint controller and the repetitive controller during electric start, substituting two continuous sampling values into a prediction domain of the prediction PI joint controller by the encoder, switching to the parallel mode of the repetitive controller and the nonlinear adaptive feedback observer when an electric vehicle enters a stable operation mode, and then transmitting an output signal of the velocity control ring. According to the method provided by the invention, the prediction PI joint control, the nonlinear adaptive feedback observation control, the repetitive control and the vector control are combined together to improve the stability, the accuracy and the dynamic response ability of the electric vehicle driving system and inhibit the velocity fluctuation in an electric vehicle running process.