4results about How to "Guaranteed tracking effect" patented technology

The invention discloses a self-adaptive event triggering cooperative tracking control method for an unmanned cluster system under resource limitation. The method comprises the following steps: establishing a dynamic model of a leader and a follower for a heterogeneous unmanned cluster system; constructing a distributed observer for the follower; determining a state measurement error and an internal dynamic variable of the follower, determining a dynamic event triggering condition of the follower, and constructing a self-adaptive event triggering controller of the follower; when the state measurement error meets or does not meet the dynamic event triggering condition, the adaptive event triggering controller adopts different means to obtain the system observation state of the neighbor node and updates the adaptive event triggering controller; and the follower realizes cooperative tracking control on the leader based on a system observation state. According to the method, the communication burden is effectively reduced, and an efficient and reliable solution is provided for cooperative control of the heterogeneous unmanned cluster system in a complex environment.

The invention relates to the field of control, in particular to a multi-sensor data fusion slip form construction closed-loop control method and system, and the method comprises the steps: collecting the pressure and displacement data of each jacking fulcrum of a slip form device in real time; calculating a pressure compensation weight coefficient of the absolute value of the sliding mode variable in the previous period through an exponential attenuation function, weighting a pressure mean value and a reference pressure difference, multiplying the weighted pressure mean value and reference pressure difference by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation amount, adding the two values to obtain a comprehensive deviation, constructing a sliding mode surface function, and calculating the sliding mode variable; calculating a second norm of the time change rate of the pressure data, and determining the actual boundary layer thickness; the sliding mode control law comprises an equivalent part and a switching control part, when the absolute value of a sliding mode variable is larger than the thickness of a boundary layer, switching control is a fixed gain sign function, otherwise, switching control is a proportional term, and a global jacking speed reference instruction is generated; according to the difference value between the real-time pressure of each fulcrum and the pressure mean value, the speed differential adjusting amount is calculated through proportional-integral adjustment, and the speed differential adjusting amount and the global reference instruction are superposed to obtain the jacking speed control instruction of each fulcrum.

This invention relates to the field of quadcopter unmanned aerial vehicle (UAV) control technology, and more particularly to an adjustable predetermined performance control method for a quadcopter UAV with actuator saturation. The method includes: acquiring the physical parameters of the quadcopter UAV; constructing a mathematical model of the quadcopter UAV system based on the physical parameters, the mathematical model considering time-varying mass, actuator saturation, and external disturbances; adjusting the initial performance index range based on the saturation deviation of the actuator input and the limit value; performing state transformation on the error variables of the quadcopter UAV according to the adjusted performance index range; designing an adjustable preset performance controller for the transformed error variables; and applying the adjustable preset performance controller to the mathematical model to ensure the stability and preset performance of the quadcopter UAV system when the actuator is saturated. This invention improves the reliability of the system.

This application discloses a data processing method, apparatus, device, storage medium, and program product, relating to the field of data processing technology. The method includes generating a privacy vector and a public key vector based on anonymity query rule data and public parameters, where the public parameters are jointly determined by the data queryer and the data provider; sending an anonymity request to the data provider, the anonymity request carrying the public key vector, the anonymity request being used by the data provider to generate a secret vector and a secret number, the secret vector being a vector in which the data provider encrypts and hides the entire original data using a random mask and an error vector, and the secret number being a secret number associated with the public key vector and the random mask, encrypted and hidden using random error; receiving data feedback information sent by the data provider, the data feedback information including the secret vector and the secret number; and determining the request result corresponding to the anonymity request from the data feedback information based on the privacy vector. This approach can resist quantum computing attacks and prevent data leakage.