2results about How to "With error correction function" patented technology

The application provides a mobile robot self-learning robust control method based on a hybrid Kalman filter and belongs to the technical field of robots.The technical scheme comprises the following steps: step 1, a dynamic model of an uncertainty factor;step 2, real-time estimation of state parameters and model parameters of the mobile robot to optimize the original dynamic model;step 3, introduction of an adaptive forgetting factor recursive least square method to dynamically adjust filter parameters;step 4, design of a non-singular fast terminal sliding mode controller based on a saturation function as a system main controller;step 5, establishment of an error correction RBF neural network and introduction of an adaptive error learning strategy;step 6, completion of stability analysis and proof of the control system by means of Lyapunov stability theory and simulation experiment of the optimized model.The application effectively suppresses the chattering of the sliding mode control and significantly improves the control precision and robust performance of the four-wheel robot.

The application discloses a data processing method, system, device and computer readable storage medium, obtains to-be-processed data; target elliptic curve password algorithm is based on to-be-processed data processing, and target result is obtained;Among them, target elliptic curve password algorithm includes scalar multiplication cycle operation process, and when each round iteration operation of scalar multiplication cycle operation process ends, the result of each round iteration operation is checked according to the first preset rule, if the check does not pass, the current round operation result is invalid, the last round iteration result is returned, the current round operation is re-performed, if the check passes, the next round iteration operation is entered, until the last round iteration operation result is output. The application can quickly and timely detect the fault injection appearing in the iteration operation process, has the error correction function and avoids the waste of calculation time, can resist the fault injection attack received in the scalar multiplication operation process, effectively prevents the leakage of password algorithm key, and guarantees the security of data.