38 results about "Barrier lyapunov function" patented technology

The invention discloses an unmanned surface vehicle distributed formation control method under collision avoidance and connection retention constraint. The method comprises the following steps: building a kinematic and dynamic model of an unmanned surface vehicle; describing information interaction among individuals in an unmanned surface vehicle formation system through an unoriented topologicalgraph; building a distance error equation, a relative course angle error equation and an azimuth angle error equation of neighboring unmanned surface vehicles on the k side, and describing the collision avoidance and connection retention constraint into a constraint problem of formation error; using a logarithmic barrier lyapunov function to guarantee that the formation error satisfies a constraint condition of preset transient state performance, and by a backstepping design method, performing design of a virtual controller for a relative course angle error system, a distance error system andan azimuth angle error system; by a dynamic surface control technology, avoiding a problem of repeated derivation to the virtual controller and solving a problem of failure in measurement of acceleration in design of a formation controller; and designing the distributed formation controller based on a disturbance observer.

The invention provides an aircraft track angle control method, system and storage medium. The method includes the following steps: according to the strong coupling and highly nonlinear characteristics of the aircraft dynamic model, the aircraft nonlinear system model is established; through variable substitution, the The nonlinear system model of the aircraft is transformed into a feedback control model with model parameter uncertainty; the flight path angle constraint control is performed on the feedback control model of the aircraft based on barrier Lyapunov function and RBF neural control theory. Compared with the prior art, the invention can avoid failure of the control system of the aircraft, thereby improving the control precision of the flight path angle of the aircraft, and improving the flight quality and flight safety characteristics of the aircraft.

The invention discloses an electric vehicle yaw stability control method based on an adaptive thrust reverser controller, comprising the following steps: constructing a lateral dynamics model of an electric vehicle; developing an adaptive thrust reverser controller based on a barrier Lyapunov function, It can be used as an upper-level controller to generate the desired additional yaw moment; an optimal torque distribution algorithm based on the minimum objective function is developed as a lower-level controller to distribute the additional yaw moment; the method of the present invention can finally realize an adaptive thrust reverser controller The design and torque distribution algorithm are of great significance to the yaw stability control of electric vehicles. It solves the problems of tire sideslip that may occur in electric vehicles under dangerous conditions, and effectively improves the maneuverability and driving safety of electric vehicles. .

The invention discloses a three-order model-based integrated design method for strapdown guidance and control. The method includes the following steps: the first step is to establish a three-order guidance and control integrated design model; the second step is to clearly consider the strapdown The design task of the integrated guidance and control algorithm constrained by the field of view of the joint seeker; the third step is to construct the auxiliary system and design the first layer of expected virtual control quantity η d , and process it through an approximate saturation function to obtain the first layer of virtual control quantity η c ; The fourth step: use the Barrier Lyapunov function to design the virtual control quantity ω of the second layer zc ;The fifth step, design the actual rudder deflection angle command δ z ; The sixth step, combining the third to fifth steps, obtains the integrated guidance and control algorithm considering the constraints of the field of view; the seventh step, checks the performance of the integrated guidance and control algorithm. The method of the invention can realize the precise strike on the target and ensure that the constraints of the field of view of the strapdown seeker are satisfied.

The invention discloses a limited state-based permanent magnet synchronous motor fuzzy position tracking control method. According to the method, the problems of non-linearity and iron loss existing in electric automobile motor driving and control systems are solved; the state quantity and the control quantity of the motor system are restrained on the basis of a Barrier Lyapunov function, meanwhile, and a fuzzy logic system is utilized to approach a nonlinear function in the system, and a fuzzy self-adaptive position tracking controller is constructed. According to the method disclosed by theinvention, the tracking error of the system can be ensured to be converged into a small enough neighborhood of the original point; and the simulation result shows that the state quantities of the motor are ensured to be in the constraint space of the system by virtue of the method of the invention, and the input of the controller is stable in a bounded region. According to the method, the rapid and effective response of the position tracking control of the permanent magnet synchronous motor of the electric vehicle is realized, and the method is more suitable for a control object requiring rapid dynamic response such as an electric automobile driving system.