10results about How to "Guaranteed tracking effect" patented technology

The invention discloses a fractional order nonlinear system fuzzy fault-tolerant controller design method for a flexible mechanical arm. The method comprises the steps that a fractional order nonlinear system with external disturbance and actuator faults is constructed; estimating a nonlinear part in the fractional order nonlinear system based on a fuzzy logic system; and defining coordinate transformation related to tracking errors, and designing a finite-time adaptive fuzzy fault-tolerant controller by combining a fractional order dynamic surface control method with a backstepping method. According to the invention, the output of the fractional order nonlinear system tracks the reference signal within the finite time, and all signals in the closed-loop system are ensured to be bounded within the finite time. And finally, the controller is applied to a flexible mechanical arm system.

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.

The present invention relates to an airport scene surveillance radar image display leak repair technology, comprising the following steps: step 1, solving the polar coordinates of each pixel point in the image display; step 2, establishing a lookup table of the radar image display area; step 3, updating the ASMR data of the latest frame to the pixel point position corresponding to the display according to the lookup table. Aiming at the problem of a large number of leaks in direct ASMR image display, the present invention proposes an ASMR image display leak repair technology based on reverse lookup mapping relationship, which completely eliminates the "moiré" phenomenon of ASMR image display, effectively improves the image display quality, and ensures the performance of target detection and tracking.

The present invention proposes a robot arm control method and system based on deterministic learning and knowledge fusion, and a new neural network control strategy based on knowledge fusion. While ensuring system stability and tracking performance, the strategy achieves accurate approximation of closed-loop unknown dynamics in a larger learning domain. The new neural network control strategy based on knowledge fusion proposed in the present invention enhances the generalization ability and robustness of radial basis function neural networks in closed-loop control, as well as their portability in multiple control task scenarios.

The invention relates to the technical field of computer vision research, in particular to a multi-target tracking method based on graph matching. All targets in each frame in a video sequence are regarded as vertexes, edges are constructed among the targets, and each frame is constructed into a graph structure containing the vertexes and the edges, so that a data association problem between the two frames can be modeled into a quadratic graph matching problem, and then the quadratic graph matching problem is solved, so that the matching efficiency of the two frames is improved. And obtaining a solution as a matching result in combination with the trajectory management part. According to the method, high-order structural features are introduced when the target is represented, and a trajectory management strategy is matched, so that even if the target is shielded, continuous tracking of the target can be ensured through structural information between the surrounding target and the shielded target, and the problem of ID wrong transformation is avoided; and the tracking effect under the scenes of camera drift, illumination condition change, scale change and the like is ensured.

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.

The present invention relates to a current synchronization control method for a parallel converter, analyzes the multi-interference characteristics existing in the parallel converter system, establishes a dynamic mathematical model of the parallel converter that comprehensively considers factors such as line impedance mismatch, structural parameter differences, and load uncertainty caused by temperature rise, designs a finite-time voltage outer loop tracking controller and a load observer to achieve voltage constancy; designs an integral terminal sliding mode current inner loop controller to achieve the tracking speed and control accuracy of the current loop; designs a finite-time mismatched line impedance differentiator and a fractional-order adaptive controller to achieve current synchronization of the parallel converter system. While ensuring the rapid tracking capability of the system, the present invention can effectively suppress the influence of many interferences on current synchronization, ensuring the optimal current synchronization performance during the entire operation of the multi-converter system.

The utility model relates to the technical field of coal mine underground, specifically relates to a coal mine underground high pressure spray high -efficient dust collector, both sides of the top of frame body all are fixedly connected with fixed plate, and all are embedded with connecting pipe on two fixed plates, and the side of two connecting pipes all has a plurality of pneumatic telescopic link, all the pneumatic telescopic link one end all with the lateral wall between the top frame fixedly connected, the side of two connecting pipes all with the connecting port place of air pump intercommunication, the top frame top slidingly connected with the spray board, and the top frame top side fixedly connected with the connecting plate, the side of connecting plate is fixedly connected with the cylinder through bolt, and the output shaft of cylinder penetrates connecting plate. Effectively solved the problem of the fixed position of the spray board, the limited spray range in the prior art, significantly expanded the coverage area of single spray operation, avoided the incomplete dust removal phenomenon caused by the spray blind area, improved the spray efficiency and uniformity.