Predetermined time-dilation state observer generation method and observation error convergence method

Abstract

This invention discloses a method for generating a predetermined time-extended state observer and a method for converging observation errors, applicable to the field of aerospace technology. The method includes: constructing a controller for a second-order nonlinear system based on all-drive system theory; transforming the second-order nonlinear system using the controller to obtain an all-drive system based on a main controller; wherein the main controller is the controller that controls the all-drive system; and designing a predetermined time-extended state observer based on the total disturbance and observation error of the all-drive system; wherein the predetermined time-extended state observer is an observer whose convergence time is limited by a predetermined time parameter. Compared to existing extended state observers, which mostly only guarantee asymptotic convergence, finite-time convergence, or fixed-time convergence, the observer generated by the predetermined time-extended state observer generation method of this invention can guarantee that the observation error converges within a predetermined time, making the predetermined convergence time more stable and improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to a method for generating a predetermined time-dilation state observer and a method for converging observation errors. Background Technology

[0002] Extended state observers are widely used in systems such as robots, drones, and spacecraft because they can effectively estimate the total disturbance of a system. However, most existing extended state observers can only guarantee asymptotic convergence, finite-time convergence, or fixed-time convergence. Using these types of extended state observers makes it difficult to ensure the predetermined time stability of the entire system.

[0003] It is evident that improving the stability of scheduled times is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method for generating a state observer with a predetermined time extension and a method for converging observation errors, which solves the technical problem of the instability of the predetermined time in the prior art.

[0005] To address the aforementioned technical problems, this invention provides a method for generating a predetermined time-division state observer, comprising:

[0006] A controller for second-order nonlinear systems is constructed based on the theory of all-drive systems.

[0007] The second-order nonlinear system is transformed by the controller to obtain an all-drive system based on the main controller; wherein, the main controller is the controller that controls the all-drive system;

[0008] A predetermined time-expanded state observer is constructed based on the total disturbance of the all-drive system and the observation error; wherein, the total disturbance of the all-drive system is the total disturbance of the all-drive system; and the predetermined time-expanded state observer is an observer whose convergence time is limited by a predetermined time parameter.

[0009] Optionally, based on any of the above embodiments, a controller for a second-order nonlinear system is constructed according to the theory of all-drive systems, including:

[0010] The controller is constructed based on the theory of the all-drive system and the control matrix, system state matrix, and system state of the second-order nonlinear system.

[0011] Optionally, based on any of the above embodiments, the controller is Where u represents the controller, B represents the main controller, and B represents the control matrix. The system state matrix, For system status, The first derivative of the system state. It is full rank.

[0012] Optionally, based on any of the above embodiments, the all-drive system is ;in, For the total disturbance of the all-drive system, To be full rank, Main controller, It is the second derivative of the system state.

[0013] Optionally, based on any of the above embodiments, a predetermined time-spread state observer is constructed based on the total disturbance and observation error of the all-drive system, including:

[0014] The total disturbance of the all-drive system is determined, and the all-drive system is rewritten based on the total disturbance to obtain the disturbance-based all-drive system.

[0015] The disturbance-based all-drive system is corrected based on the observation error to obtain the predetermined time-spread state observer.

[0016] Optionally, based on any of the above embodiments, the total disturbance of the all-drive system is determined, and the all-drive system is rewritten based on the total disturbance to obtain a disturbance-based all-drive system, including:

[0017] The total disturbance of the all-drive system is determined to be d. ;in, For system status, It is a full-rank matrix. and These are two state variables of a perturbation-based all-drive system;

[0018] The disturbance-based all-drive system is determined to be... ;in, for The first derivative, The main controller.

[0019] Optionally, based on any of the above embodiments, the perturbation-based all-drive system is corrected based on the observation error to obtain the predetermined time-spread state observer, including:

[0020] Sure For the output of the observer, and This is the observation error;

[0021] The predetermined time-division state observer is determined as ;in, , , For the parameters of the observer, , , This is a function used to guarantee the convergence characteristics of the observer at a predetermined time.

[0022] Optionally, based on any of the above embodiments, the predetermined time parameter The upper bound of the convergence time of the observer is limited, increasing It will expand and The power difference between the two error terms, when determined After setting the value, adjust the parameter. and When the initial state is close to the equilibrium point, increase the parameter. The value of accelerates the convergence of the pre-defined time-dilation state observer; increasing the parameter when the initial state is far from the equilibrium point accelerates the convergence. The value of the parameter accelerates the convergence of the pre-defined time-dilation state observer. and Used to maintain the system state matrix The Herwitz stability.

[0023] Optionally, based on any of the above embodiments, the second-order nonlinear system is a spacecraft, a robotic arm, or a drone.

[0024] The present invention also provides a method for observation error convergence, comprising:

[0025] Get the current system status of the all-drive system;

[0026] Based on the system state, the observed values ​​are obtained using the predetermined time-extended state observer.

[0027] The present invention also provides an observer generation apparatus, comprising:

[0028] The controller construction module is used to construct a controller for a second-order nonlinear system based on the theory of all-drive systems.

[0029] The all-drive system determination module is used to transform the second-order nonlinear system according to the controller to obtain an all-drive system based on the main controller; wherein, the main controller is the controller that controls the all-drive system;

[0030] A predetermined time-extended state observer construction module is used to construct a predetermined time-extended state observer based on the total disturbance of the all-drive system and the observation error; wherein, the total disturbance of the all-drive system is the total disturbance of the all-drive system; and the predetermined time-extended state observer is an observer whose convergence time is limited by a predetermined time parameter.

[0031] The present invention also provides an observation error convergence device, comprising:

[0032] The system status acquisition module is used to acquire the current system status of the all-drive system;

[0033] The observation determination module is used to obtain observations based on the system state using the aforementioned predetermined time-extended state observer.

[0034] The present invention also provides an electronic device, comprising:

[0035] Memory, used to store computer programs;

[0036] A processor for executing the computer program to implement the steps of the above-described method.

[0037] The present invention also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described above.

[0038] As can be seen, this invention constructs a controller for a second-order nonlinear system based on the theory of all-drive systems; transforms the second-order nonlinear system using the controller to obtain an all-drive system based on the main controller; wherein the main controller is the controller that controls the all-drive system; and designs a predetermined time-expanded state observer based on the total disturbance and observation error of the all-drive system; wherein the total disturbance of the all-drive system is the total disturbance of the all-drive system; and the predetermined time-expanded state observer is an observer whose convergence time is limited by a predetermined time parameter. This invention proposes a design method for a predetermined time-expanded state observer for a second-order all-drive system, which observes the internal disturbances and external interference existing in the nonlinear system, achieves convergence of the observation error within a predetermined time, and has higher convergence accuracy of the observation error.

[0039] In addition, the present invention also provides a method for observation error convergence, which also has the above-mentioned beneficial effects. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a method for generating a predetermined time-extended state observer, as provided in an embodiment of the present invention;

[0042] Figure 2 A control system block diagram using a predetermined time-extended state observer is provided as an embodiment of the present invention;

[0043] Figure 3 A flowchart illustrating a method for generating a predetermined time-extended state observer, provided in an embodiment of the present invention;

[0044] Figure 4 This is a first observation error comparison curve provided in an embodiment of the present invention;

[0045] Figure 5 This is a second type of observation error comparison curve provided in an embodiment of the present invention;

[0046] Figure 6 This is a flowchart illustrating an observation error convergence method provided in an embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] With the advancement of modern technology, new technologies in fields such as robotic arms and spacecraft are gradually becoming the mainstream of development. Systems such as joint control of robotic arms and attitude / orbit control of spacecraft are usually second-order nonlinear systems, and most of these systems are naturally omnidirectional systems. Therefore, the omnidirectional system approach can be used to design observers for them, effectively simplifying the design process and the structure of the observer. Extended state observers are widely used in systems such as robots, drones, and spacecraft because they can effectively estimate the total disturbance of the system. Most existing extended state observers can only guarantee their asymptotic convergence, finite-time or fixed-time convergence. When using such extended state observers, it is difficult to ensure the predetermined time stability of the entire system. Therefore, researching predetermined-time extended state observers has significant practical implications. This invention relates to omnidirectional system theory, predetermined-time control theory, and extended state observer design methods, particularly a predetermined-time extended state observer design method for second-order omnidirectional systems.

[0049] Please refer to Figure 1 , Figure 1 A flowchart illustrating a method for generating a predetermined time-extended state observer, provided in an embodiment of the present invention. The method may include:

[0050] S101 is a controller for second-order nonlinear systems constructed based on the theory of all-drive systems.

[0051] The steps in this embodiment can be executed by a designated electronic device, which may be a server, a portable terminal, or other form. The core idea of ​​the all-drive system theory in this embodiment is to completely transform a complex nonlinear system into a simple linear system through precise nonlinear feedback, thereby allowing the application of all mature linear control theory methods. This embodiment is not limited to a specific second-order nonlinear system. For example, the second-order nonlinear system in this embodiment can be a spacecraft system; or it can be a robotic arm system; or it can be a drone system. That is, the second-order nonlinear system can be a spacecraft, a robotic arm, or a drone. The controller in this embodiment is a controller capable of controlling the second-order nonlinear system.

[0052] It should be further explained that, based on any of the above embodiments, the controller for a second-order nonlinear system constructed according to the all-drive system theory can include: constructing the controller based on the all-drive system theory and the control matrix, system state matrix, and system state in the second-order nonlinear system. The controller is... Where u represents the controller, B represents the main controller, and B represents the control matrix. The system state matrix, For system status, It is full rank. A class of second-order nonlinear systems is defined as follows: ;in, This refers to the system status; The system state matrix, It is at full capacity; The control matrix is ​​of full rank. For control input; The total disturbance of the system; For system output; The output matrix is ​​denoted by n, where n is the dimension of the matrix, determined based on the dimension of the current system. According to the theory of all-drive systems, due to the control matrix... Since it is reversible, a second-order nonlinear system is a type of fully driven system. Therefore, a controller can be designed as follows: In this context, the period above the letter represents the first derivative, and ".." represents the second derivative. Here, u represents the controller. This serves as the main controller to be designed later, used to ensure the system's stability and robustness according to task requirements. This embodiment provides a detailed process for designing the controller, improving the accuracy of the controller design.

[0053] S102, the second-order nonlinear system is transformed by the controller to obtain the all-drive system based on the main controller; wherein, the main controller is the controller that controls the all-drive system.

[0054] This embodiment describes the transformation of a second-order nonlinear system based on the controller, meaning the second-order nonlinear system is rewritten according to the controller's parameters. Based on the theory of all-drive systems, since the control matrix is ​​invertible, the second-order nonlinear system can be rewritten as an all-drive system. In this embodiment, the main controller is used to ensure the system's stability and robustness according to task requirements.

[0055] It should be further noted that, based on any of the above embodiments, the all-drive system is ;in, For the total disturbance of the all-drive system, To be full rank, Main controller, This is the second derivative of the system state. In this embodiment, it is achieved through the controller. A second-order nonlinear system can be transformed into: At this point, a controller needs to be designed for the second-order nonlinear system. This naturally leads to the design of a main controller specifically for all-drive systems. This addresses the issue of ensuring system stability.

[0056] S103, Construct a predetermined time-expanded state observer based on the total disturbance of the all-drive system and the observation error; wherein, the total disturbance of the all-drive system is the total disturbance of the all-drive system; the predetermined time-expanded state observer is an observer whose convergence time is limited by a predetermined time parameter.

[0057] In this embodiment, the total disturbance of the all-drive system refers to all disturbances present in the all-drive system. The observation error in this embodiment refers to the error in the observation performed by the observer. The predetermined time-dilation state observer in this embodiment can achieve convergence of the observation error within a predetermined time.

[0058] It should be further noted that, based on any of the above embodiments, the aforementioned construction of a predetermined time-extended state observer based on the total disturbance and observation error of the all-drive system may include:

[0059] S1031, determine the total disturbance of the all-drive system, and rewrite the all-drive system based on the total disturbance to obtain the disturbance-based all-drive system;

[0060] S1032, Based on the observation error, the disturbance-based all-drive system is corrected to obtain the predetermined time-spread state observer.

[0061] The total disturbance of the all-drive system determined in this embodiment is d, and the determination is... ;in, For system status, It is a full-rank matrix. and These are two state variables of a disturbance-based all-drive system; the disturbance-based all-drive system is determined as follows: ;in, for The first derivative, The main controller is used. Understandably, since the disturbances experienced by the system are unmeasurable, an observer needs to be designed to estimate the disturbances in the system. The all-wheel drive system can then be rewritten as follows: (Perturbation-based systems); where, for The first derivative of . Let . This is the output of the observer. This embodiment presents a design method for perturbation-based all-drive systems, improving the accuracy of perturbation-based all-drive systems.

[0062] Specifically, correcting the perturbation-based all-drive system based on observation errors to obtain a predetermined time-spread state observer may include: determining... For the output of the observer, and For observation error; determine the predetermined time-span state observer as , and It is the observation error of the observer, which has two outputs. By comparing with the state truth value and The difference is taken and the resulting error is denoted as . and ;in, , , For the parameters of the observer, , , This is a function used to guarantee the convergence characteristics of the observer at a predetermined time. This embodiment will... and To account for observation errors, the pre-defined time-span state observer is designed as follows: ;in, These are the parameters of the observer. (The function used to guarantee the convergence characteristic of the observer at a predetermined time) has the following form: In the formula, ,function The expression is ; These are parameters used to ensure the stability of the observer. The parameters of the observer are adjusted to ensure its convergence. The above formula will set the time parameter to a predetermined value. As a key parameter, it limits the upper bound of the observer's convergence time, and is the most direct manifestation of ensuring that the observer converges within a predetermined time. Increasing... It will expand and The power difference between the two error terms makes the observer's convergence time more sensitive to the initial state. In determining... After setting the value, adjust the parameters. and When the initial state is close to the equilibrium point, the convergence process is... Item-driven. Increase parameters. The value of can accelerate the convergence of the observer. When the initial state is far from the equilibrium point, the convergence process is... Item-driven, increase parameters The value of will accelerate the convergence of observation errors. Parameter and Mainly by maintaining the matrix The Herwitz stability is used to ensure the stability of the observer. and These are parameters introduced to maintain generality. These are parameters without physical meaning, introduced to ensure the convergence of the observer. The initial state in this embodiment is the initial state of the observer. The initial state can be... and This indicates that it is time 0. and The value of , the equilibrium point is the zero point, that is and All are 0. It should be noted that the most important parameter in this embodiment of the invention is the predetermined time parameter. The other parameters are all parameters without specific physical meaning.

[0063] In the proposed time-extended state observer, as long as all parameters are within a reasonable range, the observation error can be effectively guaranteed to be within the predetermined time. The neighborhood that converges to zero, i.e., the total perturbation in a second-order nonlinear system. Able to be at the scheduled time The internal parameters are estimated, greatly facilitating subsequent controller design and stability analysis. The above method corresponds to the following for the entire control system: Figure 2 As shown, Figure 2 This invention provides a control system block diagram employing a predetermined time-expanded state observer. The output state of a type of nonlinear system is connected to the observer. After the observer performs real-time estimation of the total disturbance of the system, this estimation is introduced into the controller, thereby compensating for the total disturbance in the nonlinear system and offsetting its impact on the nonlinear system.

[0064] This invention provides a method for generating a predetermined time-extended state observer, which may include: S101, constructing a controller for a second-order nonlinear system based on the theory of all-drive systems; S102, transforming the second-order nonlinear system using the controller to obtain an all-drive system based on a master controller; wherein the master controller is the controller that controls the all-drive system; S103, constructing a predetermined time-extended state observer based on the total disturbance and observation error of the all-drive system; wherein the total disturbance of the all-drive system is the total disturbance of the all-drive system; and the predetermined time-extended state observer is an observer whose convergence time is limited by a predetermined time parameter. Compared with existing asymptotically convergent, finite-time / fixed-time convergent extended state observers, the observer proposed in this invention can guarantee that the observation error converges within a human-predictable time, greatly facilitating user operation.

[0065] For a clearer understanding of this invention, please refer to the following details. Figure 3 , Figure 3 A flowchart illustrating a method for generating a predetermined time-division state observer, provided in an embodiment of the present invention, may specifically include:

[0066] S201: Transform a general second-order nonlinear system into an all-drive system using the all-drive system method.

[0067] Consider a class of second-order nonlinear systems:

[0068] Formula (1);

[0069] Based on the theory of all-drive systems, the controller of the following form is designed:

[0070] Formula (2);

[0071] via controller Formula (1) can be transformed into the following form:

[0072] Formula (3);

[0073] At this point, a controller is designed based on formula (1). This naturally transforms the problem of system stability into designing the main controller for the all-drive system according to formula (3). This addresses the issue of ensuring system stability.

[0074] S202: Convert the all-wheel drive system to a disturbance-based all-wheel drive system.

[0075] Total disturbance in the system Expand it into a new state variable, that is, let Then formula (1) can be transformed into:

[0076] Formula (4).

[0077] in, This is the derivative of the total disturbance.

[0078] S203: Determine the scheduled time parameters.

[0079] To ensure the predetermined time convergence characteristic of the observer, a predetermined time term is designed in the extended state observer. In this invention, this is mainly for… Items, in the following form:

[0080] In the formula, , These are the parameters of the observer, which can be preset manually as needed.

[0081] S204: Generate a pre-time extended state observer for a second-order all-drive system using a perturbation-based all-drive system and pre-defined time parameters.

[0082] remember For the output of the observer, and To account for observation errors, a predetermined time-spanning state observer of the following form is designed:

[0083] Formula (5).

[0084] in, Its main purpose is to ensure that the observer is stable.

[0085] This embodiment can verify the effectiveness of the observer through spacecraft attitude control simulation. To verify the effectiveness of the predetermined time-dilation state observer designed in this invention, we now consider the attitude control problem of a rigid spacecraft with internal rotational inertia uncertainty and external disturbances, and verify whether the predetermined time-dilation state observer designed in this invention can observe the total disturbance in the spacecraft system within a predetermined time, that is, whether the observation error converges within a predetermined time.

[0086] Consider the following model of the spacecraft attitude control system:

[0087] .in, For attitude variables, Angular velocity, This is the nominal value of the spacecraft's moment of inertia. To control the input, External disturbances experienced by the spacecraft. (Function) The format is as follows: ; It is an antisymmetric matrix, in the form of The nominal moment of inertia of the spacecraft is selected as [value missing]. The uncertainty in the moment of inertia matrix is The external disturbance torque experienced by the spacecraft from the environment is... .

[0088] The initial value of the observer proposed in this invention is selected as follows: The parameters of the observer are: Meanwhile, the traditional extended state observer (FTESO) and the predetermined time extended state observer (PTESO) of this invention are compared, and the simulation results are as follows. Figure 4 and Figure 5 , Figure 4 This is a first type of observation error comparison curve provided in an embodiment of the present invention; Figure 5 This is a second type of observation error comparison curve provided in an embodiment of the present invention; from Figure 4 and Figure 5 The simulation results show that the observation error of PTESO (represented by the red solid line) converges to near zero faster than that of FTESO (represented by the blue dashed line). The red solid line converges to near zero within 1 second, while the blue dashed line converges after 1 second. A magnified view shows that the amplitude of the red solid line is smaller than that of the blue dashed line. Therefore, it can be concluded that the observation error of the proposed predetermined time-dilation state observer converges within 1 second, which is faster than the compared observers, and the convergence accuracy is higher. Thus, the effectiveness of the proposed predetermined time-dilation state observer is verified.

[0089] For a clearer understanding of this invention, please refer to the following details. Figure 6 , Figure 6 A flowchart illustrating an observation error convergence method provided in this embodiment of the invention may specifically include:

[0090] S301, obtain the current system status of the all-drive system;

[0091] S302, Based on the system state, the observed values ​​are obtained using the aforementioned predetermined time-extended state observer.

[0092] In this embodiment, a predetermined time-extended state observer is used to enable the total disturbance in the all-drive system to be estimated within a predetermined time.

[0093] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0094] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0095] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0096] The foregoing has provided a detailed description of the method for generating a predetermined time-dilation state observer and the observation error convergence method provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for generating a state observer with a predetermined time extension, characterized in that, include: A controller for second-order nonlinear systems is constructed based on the theory of all-drive systems. The second-order nonlinear system is transformed by the controller to obtain an all-drive system based on the main controller; wherein, the main controller is the controller that controls the all-drive system; A predetermined time-spreading state observer is constructed based on the total disturbance of the all-drive system and the observation error; wherein, the total disturbance of the all-drive system is the total disturbance of the all-drive system; and the predetermined time-spreading state observer is an observer whose convergence time is limited by a predetermined time parameter. Among them, a predetermined time-spread state observer is constructed based on the total disturbance and observation error of the all-drive system, including: The total disturbance of the all-drive system is determined, and the all-drive system is rewritten based on the total disturbance to obtain the disturbance-based all-drive system. The disturbance-based all-drive system is corrected based on the observation error to obtain the predetermined time-spread state observer; Specifically, the process involves determining the total disturbance of the all-drive system and rewriting the all-drive system based on this total disturbance to obtain a disturbance-based all-drive system, including: The total disturbance of the all-drive system is determined to be d. ;in, For system status, It is a full-rank matrix. and These are two state variables of a perturbation-based all-drive system; The disturbance-based all-drive system is determined to be... ;in, for The first derivative, Main controller; The method of correcting the perturbation-based all-drive system based on the observation error to obtain the predetermined time-spread state observer includes: Sure For the output of the observer, and For observation error, and Indicates observation error; The predetermined time-division state observer is determined as ;in, , , For the parameters of the observer, , , The function used to guarantee the convergence characteristic of the observer at a predetermined time. These are parameters that have no physical meaning.

2. The method for generating a predetermined time-dilation state observer according to claim 1, characterized in that, A controller for a second-order nonlinear system is constructed based on the theory of all-drive systems, including: The controller is constructed based on the theory of the all-drive system and the control matrix, system state matrix, and system state of the second-order nonlinear system.

3. The method for generating a predetermined time-dilation state observer according to claim 2, characterized in that, The controller is Where u represents the controller, B represents the main controller, and B represents the control matrix. The system state matrix, For system status, The first derivative of the system state. It is full rank.

4. The method for generating a predetermined time-dilation state observer according to claim 1, characterized in that, The all-wheel drive system is ;in, For the total disturbance of the all-drive system, It is a full-rank matrix. Main controller, It is the second derivative of the system state.

5. The method for generating a predetermined time-dilation state observer according to claim 1, characterized in that, Scheduled time parameters The upper bound of the convergence time of the observer is limited. In the formula, ,function The expression is ; These are parameters used to ensure the stability of the observer. The parameters of the observer are adjusted to ensure the convergence of the observer. and This is a parameter introduced to avoid loss of generality; increasing It will expand and The power difference between the two error terms, when determined After setting the value, adjust the parameter. and When the initial state is close to the equilibrium point, increase the parameter. The value of accelerates the convergence of the pre-defined time-dilation state observer; increasing the parameter when the initial state is far from the equilibrium point accelerates the convergence. The value of the parameter accelerates the convergence of the pre-defined time-dilation state observer. and Used to preserve the observer's parameter matrix The Herwitz stability.

6. The method for generating a predetermined time-dilation state observer according to claim 1, characterized in that, The second-order nonlinear system is a spacecraft, a robotic arm, or a drone.

7. A method for converging observation errors, characterized in that, include: Get the current system status of the all-drive system; Based on the system state, the predetermined time-extended state observer obtained by the predetermined time-extended state observer generation method according to any one of claims 1 to 6 obtains the observation value.

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