An Uncertain Nonlinear Intelligent Agent Driving and Control Method Based on Linear Quadratic Regulation

CN121785123BActive Publication Date: 2026-06-30HENAN UNIVERSITY OF TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HENAN UNIVERSITY OF TECHNOLOGY
Filing Date
2025-12-24
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing technologies suffer from poor adaptability and low fault tolerance when dealing with the driving and control problems of nonlinear intelligent agents. They are unable to handle the dynamic characteristics and uncertainties in complex environments, especially in outdoor dynamic environments, where control accuracy decreases and the agents are prone to detaching from guidance.

Method used

By rewriting the uncertain nonlinear kinematic model of the guide into uncertain nonlinear differential equations, an observer-based dynamic tracking controller is designed. Combined with linear quadratic regulation, a drive controller is designed to realize the guide's control of the uncertain nonlinear wanderer. By using state estimation and error optimization, the problem is simplified into a linear control problem, thus enhancing robustness.

Benefits of technology

It improves control accuracy and stability, enhances the system's robustness to uncertainties such as environmental interference, sensor noise, and parameter disturbances, and ensures that the intelligent agent can accurately track the reference signal and reach the target position in complex environments.

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Abstract

This invention relates to the field of multi-agent drive control technology, specifically to an uncertain nonlinear intelligent agent drive control method based on linear quadratic adjustment. The method derives the standard differential equation mathematical model of the guide based on its uncertain nonlinear kinematic model, thus separating the unmeasurable nonlinear terms. The unmeasurable nonlinear terms are estimated using an observer, and a dynamic tracking controller is designed based on the observer. The input-to-state stability of the system is ensured by combining multi-loop nonlinear low-gain conditions, enabling the guide to track a time-varying reference signal. Subsequently, the reference signal generation system that generates this time-varying reference signal is used as a new guide. A drive controller is designed using linear quadratic adjustment, thereby utilizing state estimation and error optimization to solve for the optimal input. This simplifies the uncertain nonlinear drive control problem into a linear quadratic adjustment problem, achieving an integrated collaborative design of "guide tracking the reference signal" and "roamer reaching the target position."
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Citation Information

Patent Citations

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