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An electrochromic structure with self-powered operation comprises: a photoelectric element having a first glass substrate, a solar power generation structure, and a second glass substrate; a reflective film structure having a glass substrate, an auxiliary layer, and a reflective layer, wherein the reflective film structure is bonded to the photoelectric element with a first resin; and an electrochromic element having a first transparent conductive glass layer, a first electrochromic layer, an electrolyte layer, a second electrochromic layer, and a second transparent conductive glass layer, wherein the electrochromic element is disposed on the reflective film structure and stacked with a second resin to form the electrochromic structure, and the electrochromic element is electrically connected to the photoelectric element. Therefore, the electrochromic structure can be self-powered, improves power generation efficiency, reduces the use of substrate glass, and lowers production costs.

The present application belongs to the technical field of robot control, and particularly relates to an uncertainty and disturbance estimation control method for a shape memory alloy driver. The method of the present application controls the shape memory alloy driver by using a control signal as follows: the present application combines a shape memory alloy rate-dependent Prandtl-Ishlinskii model with an uncertainty and disturbance estimation control method to realize tracking control of the shape memory alloy driver, improve robust performance, and has a good application prospect.