6 results about "Continuous time system" patented technology

The present application relates to the technical field of power buoy, in particular to a power buoy self-positioning control method based on MPC algorithm and a power buoy. First, the kinematic model of the buoy is established and converted into a continuous state space model, then the continuous time system equation is established according to the kinematic model, then the continuous state space model is discretized, then the state transition matrix and the input influence matrix in the continuous state space model are discretized according to the continuous time system equation, then the objective function is established, and the control parameters in the kinematic model are constrained, finally the optimal solution of the objective function is solved in the constraint range by using the linear quadratic programming function, the optimal control parameters are obtained, and the optimal positioning and navigation control are realized. The present application is equipped with a positioning control system and a power propulsion system, can quickly and autonomously adjust the attitude and position of the buoy itself, and greatly improves the adaptability and flexibility of the buoy.

The invention relates to a non-linear control system-oriented micro neural control barrier function security verification method, which supports more efficient verification of NCBF of micro monotonic activation functions such as tanh in a framework for verifying NCBF by a CROWN-based method, and is suitable for analysis of a continuous time system because the NCBF is micro. The derivative interval is not indirectly derived through linear relaxation of the activation value, but the real extreme value of the sigma '(z) is directly solved on the pre-activation interval, and the derivative boundary is tighter. As the derivative boundary is more accurate, back propagation accumulative relaxation is significantly reduced, and the final Jacobian interval is closer to a real value. Compared with a traditional SMT / MIP / CROWN method, the method has the advantages that acceleration is achieved by several times while strict safety is kept, and near-real-time deployment is facilitated.

The application discloses a missile guidance control integration method based on a neural network mechanism modeling, which comprises the following steps: in a continuous time system, a vertical plane missile guidance control integration model is established; according to the dynamic equation of the vertical plane missile guidance control integration, a state transition equation in a discrete time system is established; a data set for fitting the dynamic model of a neural network is established, and a neural network parameter model obtained through neural network regression calculation is used as a non-mechanism fitting model of a missile control system; and according to the neural network parameter model, a guidance control integration mechanism model used in a control cycle is obtained. The method uses the input and output data of a control process to perform self-modeling of a time-varying control system, meanwhile, the model is equivalent to a mechanism method, and the modeling result can be used for the control of a discrete time system, and the modeling principle has interpretability and reliability.

This invention discloses a method for equipment operation scheduling decision-making considering resource constraints, belonging to the field of equipment scheduling management technology. This invention embeds equipment operation scheduling conflicts into the continuous time domain by constructing a temporally coupled conflict analysis graph model and establishing an event-driven state transition mechanism, achieving unified modeling of discrete decision-making and continuous-time system dynamics. By transforming the decision objective into a utility density function and integrating it along the state trajectory, the cumulative utility value of path dependence is obtained, generating a preference ranking of each decision-maker for the state trajectory. The stability of each state trajectory is tested through a temporally coupled stability definition, and state trajectories that satisfy the temporally coupled stability definition are determined as balanced scheduling schemes. This invention achieves deep integration of resource constraints, multi-objective trade-offs, and multi-agent strategy interactions in the continuous time domain, and is applicable to multi-agent resource-constrained scheduling scenarios such as equipment rotation and industrial equipment cluster maintenance.

The invention provides a steering and torque distribution integrated control method for a four-wheel independent drive vehicle based on nonlinear predictive control, which comprises the following steps of: firstly, establishing a nonlinear state-space equation of the four-wheel independent drive vehicle, and establishing an optimal control problem based on the state-space equation; and then the optimal control problem of the original continuous time system is converted into a nonlinear optimization problem by using a forward Euler method and a multiple targeting method, and the singularity of the nonlinear optimization problem is effectively eliminated and the convexity of the nonlinear optimization problem is improved by adding a regular term in an optimization target. Finally, a moderate-scale sequential quadratic programming mode is designed, and compared with the prior art adopting hierarchical nonlinear predictive control, an open source solver IPOPT and the like, the control precision and the solving speed can be effectively improved.

The application provides a robust reliable H∞ control method for offshore steel jacket platform models, first establishes a mathematical model of OSJPs, and considers the first main vibration mode. Then, a controller based on memory SDC is designed, which can realize effective control by reducing data transmission amount under the condition that the state of the continuous time system is only available at the sampling time. In addition, a back loop function method, an integral inequality based on a free matrix (FMB) and a linear matrix inequality (LMI) technology are introduced to obtain sufficient conditions about the uncertain offshore platform system, so that the stabilization of the OSJPs is solved, and the reliable SDC design with disturbance suppression level is realized. The simulation result of the application shows that the proposed method can not only effectively reduce the vibration of the OSJPs, but also maintain the stability of the system in the case of model uncertainty and actuator failure, proving the effectiveness and importance of the proposed control strategy.