151results about How to "Shorter arrival time" patented technology

The invention discloses an enhanced-type constant-speed reaching law sliding-mode control method for a four-rotor-wing unmanned plane system. The enhanced-type constant-speed reaching law sliding-modecontrol method is designed for the four-rotor-wing unmanned plane system through combining with a constant-speed reaching law sliding-mode control method. The design of an enhanced-type index reaching law aims at guaranteeing that the sliding mode of the system can reach a sliding mode plane more quickly while the vibration of the system is not increased, thereby achieving the quick and stable control of the system.

Provided is a four-rotor aircraft output-limited backstepping control method based on an integral sliding mode obstacle Lyapunov function. For the dynamic system of a four-rotor aircraft, an integralsliding mode obstacle Lyapunov function is selected, and a four-rotor aircraft output-limited backstepping control method based on the integral sliding mode obstacle Lyapunov function is designed. Theintegral sliding mode obstacle Lyapunov function is designed in order to ensure that the output of the system is limited within a certain range, avoid too large overshoot and reduce the time of arrival. Therefore, the dynamic response performance of the four-rotor aircraft system is improved. The invention provides a four-rotor aircraft output-limited backstepping control method based on an integral sliding mode obstacle Lyapunov function, which enables the system to have a good dynamic response process.

The invention discloses an enhanced-type double-power reaching law sliding-mode control method for a four-rotor-wing unmanned plane system. The enhanced-type double-power reaching law sliding-mode control method is designed for the four-rotor-wing unmanned plane system through combining with a double-power reaching law sliding-mode control method. The design of an enhanced-type double-power reaching law aims at guaranteeing that the sliding mode of the system can reach a sliding mode plane more quickly while the vibration of the system is not increased, thereby achieving the quick and stable control of the system.

The invention relates to an enhanced fast power reaching law sliding mode control method of a quad-rotor UAV system. The enhanced fast power reaching law sliding mode control method is designed for the quad-rotor UAV system by combining with a fast power reaching law sliding mode control method. The design of an enhanced fast power reaching law is used for ensuring a sliding mode of the system canreach a sliding mode surface more quickly, does not increase the chattering phenomenon of the system, and achieves fast and stable control of the system.

The invention provides a sudden traffic accident alarm device and method. The device comprises a processor, a voice prompt module and a safety sensor. The safety sensor transmits a detection signal to the processor. The voice prompt module receives the signal transmitted by the processor. The processor judges occurrence of the traffic accident according to the signal acquired by the safety sensor and transmits a self-saving prompt signal to the voice prompt module when occurrence of the traffic accident is determined. The voice prompt module receives the self-saving prompt signal and then transmits self-saving prompt voice information. The method comprises the steps that the processor of the sudden traffic accident alarm device receives the signal transmitted by the safety sensor and judges occurrence of the traffic accident according to the acquired signal, the self-saving prompt signal is transmitted to the voice prompt module if the judgment result is yes, and the voice prompt module receives the self-saving prompt signal and transmits the self-saving prompt information. The self-saving prompt information can be timely transmitted to the people in the vehicle so as to assist the people in the vehicle to get out of danger in time.

Disclosed are an apparatus and method for distributing consumption nodes to messages in a message queue (MQ). According to the embodiment, the apparatus can comprise a monitor subsystem and a distribution subsystem. The monitor subsystem can be configured to monitor accumulation measurement of various messages in the MQ and processing pressure measurement of various consumption nodes in a consumption end system, to distribute a new consumption node to one kind of messages when the accumulation measurement of the kind of messages exceed a first threshold value and/or to distribute a new consumption node to the kind of messages having the maximum accumulation measurement in a certain consumption, of which a processing pressure exceeds a second threshold value. The distribution subsystem can be configured to update subscription information of the consumption nodes according to the distribution result of monitor subsystem.

The invention provides an enhanced exponential reaching law sliding mode control method for a quadrotor UAV system. Based on the exponential reaching law sliding mode control method for a quadrotor UAV system, an enhanced exponential reaching law sliding mode control method for the quadrotor UAV system is designed. The design of the enhanced exponential reaching law is to ensure that the sliding mode of the system can reach the sliding mode surface faster, without increasing the chattering phenomenon of the system and realizing the system's fast and stable control.

The invention relates to an output limited backstepping control method for a four-rotor aircraft based on a symmetrical time-invariant barrier Lyapunov function. Aimed at a dynamic system of the four-rotor aircraft, the symmetrical time-invariant barrier Lyapunov function is selected, and the output limited backstepping control method for the four-rotor aircraft based on the symmetrical time-invariant barrier Lyapunov function is designed to ensure that system output is limited within certain range, avoid excessive overshoot, and reduce arrival time, and further to improve the dynamic responseperformance of the four-rotor aircraft system. The method provided by the invention enables that the system has a better dynamic response process.

The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type fast power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface anda first-order derivative thereof. According to the method, sliding mode control and fast terminal sliding mode control which are based on the exponential enhancement type fast power reaching law are combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic tangent enhanced exponential approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamicsmodel is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic tangent enhanced exponential approaching law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, the speed and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.

Provided is an adaptive control method of a quad-rotor aircraft based on the sliding mode surface of an index enhanced double-power reaching law and a rapid terminal. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the quad-rotor aircraft to an inertia coordinate system based on the earth is determined; 2) a dynamic model of the quad-rotoraircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the sliding mode surface of the rapid terminal and a first-order derivative thereof. Sliding mode control via the index enhanced double-power reaching law is combined with sliding mode control of the rapid terminal, the reaching speed is increased when being far from the sliding mode surface, jittering is reduced, a system is rapider and more robust, rapid and stable control is realized, the tracking error is controlled in limit time, and the problem that the tracking error reaches 0 only if time reaches infinite in a traditional sliding mode surface. The interference boundary is estimated via adaption, and the system stability is improved.

The invention relates to an adaptive control method for a four-rotor aircraft based on an enhanced bipower reaching law of an inverse proportional function and a rapid terminal sliding mode surface. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the four-rotor aircraft to the earth based inertia coordinate system is determined; 2) a dynamic model of the four-rotor aircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the rapid terminal sliding mode surface and a first-order derivative thereof. According to the method, sliding mode control of the enhanced bipower reaching law of the inverse proportional function is combined with rapid terminal sliding mode control, the reaching speed can be increased far from the sliding mode surface, buffeting is reduced, the system is rapider and more robust, rapid and stable control is realized, the trackingerror is controlled with limited time, and the problem that the tracking error tends to 0 only when time tends to infinite in a traditional sliding mode surface is solved. The interference boundary isestimated via adaption, and the system stability is improved.

The invention relates to a four-rotor aircraft self-adaptive control method based on a hyperbolic sine exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, adynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding modesurface and a first-order derivative thereof. According to the method, the hyperbolic sine exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode controlare combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.