2results about How to "Reduce communication load" patented technology

This invention belongs to the field of multi-agent cooperative intelligent control technology, specifically relating to a multi-manipulator cooperative control method for unknown disturbances. The method includes: establishing a dynamic model of a strictly feedback nonlinear multi-manipulator cooperative system; constructing the system's communication topology through a virtual coupling mechanism; building a unified system cooperative error model; introducing a preset time function and a globally preset performance function to map errors to an adjustable constraint performance space, ensuring dynamic convergence of all error signals within the user-defined performance range; designing task-level shape control forces and pose control forces within a distributed gradient descent framework to construct an overall task-level control force, driving the multi-manipulators to move cooperatively and maintain a stable formation in the task space; and designing a joint-level distributed adaptive control law under unknown disturbances using the passive characteristics of the nonlinear system. This invention enables multi-manipulator systems to achieve cooperative convergence and stable control within a preset time under unknown disturbances.

The vehicle system (1) of the present invention comprises: sensors (61, 63) for detecting at least one of vibration of the track (4) in the inspection section (S3) and sound generated in the inspection section (S3); a storage unit (75A) for storing the detection results detected by the sensors (61, 63); an evaluation unit (75B) for evaluating the state of the target vehicle (6); and a communication unit (75C) for sending the evaluation results evaluated by the evaluation unit (75B) to a controller (90). The controller (90) controls multiple vehicles (6) in such a way that only one target vehicle (6) exists in the inspection section (S3), and makes the target vehicle (6) drive in a predetermined driving mode in the inspection section (S3). The evaluation unit (75B) evaluates the state of the target vehicle (6) based on the detection results of the target vehicle (6) stored in the storage unit (75A) and the detection results of other vehicles (6) besides the target vehicle.