686 results about "Disturbance observer" patented technology

The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

Disclosed in the present invention is an output feedback control method for a pilot-operated electro-hydraulic proportional servo valve considering disturbance suppression. According to the control method, a nonlinear active disturbance rejection controller with both disturbance suppression and unknown state estimation is designed on the basis of a constructed disturbance observer in combination with an extended state observer. To address the problem of a valve core position control system of the pilot-operated electro-hydraulic proportional servo valve, the present invention not only ensures suppression of matched interference in the system, but also compensates for mismatched interference in the system, and utilizes a state observer to estimate unmeasurable state variables, so as to construct full-state feedback control, thereby ultimately achieving high-precision tracking control of the valve core position.

The invention discloses a fixed-wing unmanned aerial vehicle trajectory tracking control system and method based on a disturbance observer. The system acquires various state data of the unmanned aerial vehicle through the data acquisition module, the interference observer module estimates external interference in real time based on a dynamic model, the trajectory planning module generates an optimized trajectory according to tasks and environments, and the controller module realizes accurate control by adopting a model prediction control and sliding mode control composite strategy. And the execution mechanism driving module executes the control instruction. The method comprises the steps of data acquisition, interference estimation, trajectory planning, controller design and calculation, actuating mechanism driving and the like. The method can effectively improve the trajectory tracking accuracy and stability of the fixed-wing unmanned aerial vehicle in a complex environment, and has a wide application prospect.

The invention discloses a six-rotor unmanned aerial vehicle control method and system with disturbance and performance constraints. The method comprises the steps that 1, a six-rotor unmanned aerial vehicle power model is built; 2, errors are determined based on the dynamic model, functions are combined, and a finite time scheme is determined; step 3, based on the dynamic model, establishing an observer, and knowing a disturbance state; step 4, a performance control scheme and an unknown disturbance state are stipulated in finite time, an error dynamic model is established, and the error dynamic model is established based on reinforcement learning; 5, setting a base scheme, setting a virtual controller and an actual controller, and setting an adaptive law for the base neural network; 6, the controller follower can track the leader, and tracking control is completed; establishing a controller by adopting a backstepping method, establishing a disturbance observer, and compensating negative effects; a reinforcement learning algorithm and a backstepping method technology are combined, and a controller is arranged to realize control; according to the method, the stability is proved by using a Lyapunov judgment stability theory, and the feasible effectiveness is verified by a simulation example.

The invention relates to the field of four-rotor control, and discloses an optimal trajectory planning method for a four-rotor suspension payload system, which comprises the following steps of: establishing a four-rotor suspension payload system kinetic model; for unknown lumped disturbance in the established model, estimating the lumped disturbance through a predefined time nonlinear disturbance observer to obtain a compensated nominal model; based on the real-time positions of the four rotors, a dynamic window particle swarm optimization algorithm is adopted in the detection range of a sensor carried by the four rotors to minimize a cost function about path points, and an initial optimal track is found; and taking the compensated nominal model as a new prediction model, taking the initial optimal trajectory as a reference trajectory, and using nonlinear model prediction control to minimize a cost function so as to obtain a prediction trajectory meeting system constraints. According to the method disclosed by the invention, the load transportation reliability and stability can be improved, and the control precision is effectively ensured.

The invention provides an exoskeleton robot self-adaptive control method and related equipment, and relates to the technical field of exoskeleton robots. The method comprises the following steps: acquiring motion information and position information of each movable joint in the exoskeleton robot; inputting the motion information and the position information into a pre-trained angle prediction model to obtain a target angle of each movable joint; the difference value between the target angle and the actual angle output by the exoskeleton controller serves as an angle error; constructing a virtual control quantity based on the angle error; the virtual control quantity is combined with motion parameters of the exoskeleton robot to be input into a disturbance observer, and estimated disturbance is generated; the angle error, the virtual control quantity and the estimated disturbance are input into an adaptive neural network controller, and the control torque of each movable joint is obtained; and based on the control torque of each movable joint, generating a control signal of each movable joint. The method and the device have good control precision.

The invention provides a magnesium alloy electric drive main shell mold machining precision control method and system, and belongs to the field of precision numerical control machining. The method comprises the steps that dynamic milling force, key point temperature and position signals of all shafts are synchronously collected through a multi-source sensor; a recursive least square method is adopted to identify the dynamic rigidity and damping coefficient of the tool-workpiece system on line, and the thermal deformation drift distance is calculated in combination with a temperature signal; predicting a three-dimensional deformation error vector in real time based on the dynamic model, thermal deformation and geometric errors, and constructing a space compensation field; macro motion compensation is achieved by modifying numerical control program coordinate points, and meanwhile high-frequency micro-amplitude compensation is conducted through a spindle tail end fast tool servo system. And establishing an adaptive disturbance observer to perform online estimation on unmodeled disturbance and feed-forward compensation, and realizing online self-tuning of model parameters in combination with in-situ measurement feedback. Real-time sensing, full-band dynamic compensation and closed-loop self-adaptive control of multi-source errors are achieved, and the machining precision and long-term stability of the mold are remarkably improved.

The invention relates to the technical field of spraying control, in particular to an anti-corrosion steel pipe inner spraying track self-adaptive control system based on multi-sensor fusion. The feed-forward prediction module generates a feed-forward correction signal through a model compensator and a self-adaptive compensator and predicts and compensates system errors, the feedback control module comprises a track generator and a disturbance observer, a feedback control instruction is generated by comparing a correction track with an original track, an execution mechanism is dynamically adjusted, and the system error is predicted and compensated. The signal driving module adopts a frequency domain decoupling fusion technology, combines a feedforward correction signal and a feedback control instruction, generates a composite control instruction, and ensures the accuracy of trajectory tracking control. According to the invention, through a double-loop control architecture combining feedforward prediction and feedback disturbance suppression, high-precision and strong-robustness self-adaptive control of a spraying track under a complex working condition is realized.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention provides a power grid connection disturbance observer feedback control method, which belongs to the technical field of power grid connection, and comprises the following steps: detecting power grid impedance parameters by using a multi-frequency harmonic injection technology, designing a disturbance observer algorithm to establish a state equation set, and constructing a nominal inverter model by using a low-pass filter; the total disturbance amount is estimated in real time by comparing the difference value between the actual current output and the nominal model output, a feedback control strategy is constructed, the disturbance estimation value serves as a feedforward compensation signal to be superposed to the current controller output, and disturbance components in different frequency ranges are processed in a classified mode according to disturbance types. A disturbance observer bandwidth parameter and a filter cut-off frequency are set, a disturbance estimation value is compensated to a current control loop in real time through a feedforward compensation signal to suppress the influence of power grid disturbance on the grid-connected current, and the technical problem that it is difficult to accurately estimate and compensate the influence of power grid disturbance on the grid-connected inverter in real time is solved.

The invention relates to the technical field of mining permanent magnet synchronous motor sensorless control, and particularly discloses a composite sliding mode control and adaptive phase-locked loop collaborative optimization method. Aiming at the technical bottlenecks of a traditional control strategy in the aspects of rotating speed fluctuation suppression, load disturbance compensation and rotor position observation precision, a collaborative architecture of a time-varying integral terminal sliding mode control module, a sliding mode disturbance observation module and a self-adaptive phase-locked loop module is constructed, so that the dynamic performance optimization of the system is realized. According to the method, through the dynamic coupling design of the time-varying gain nonlinear reaching law and the fast integral terminal sliding mode surface, the convergence speed and the buffeting suppression requirement are balanced while the disturbance dynamic influence is eliminated; multi-dimensional decoupling observation of external load disturbance is realized based on a hierarchical disturbance observer architecture, and a disturbance real-time suppression path is established in combination with a feed-forward compensation strategy; and constructing an error self-adaptive correction mechanism of rotor position observation by dynamically adjusting a phase-locked loop proportionality coefficient and a phase compensation parameter. The limitation of parameter solidification and observation coupling in traditional control is broken through, the rotating speed tracking stability, the position observation precision and the anti-interference capability under complex working conditions are remarkably improved, and an innovative solution is provided for a high-precision servo driving system.

The invention discloses a ground-to-ground heterogeneous cluster formation control method and system based on an adjustable funnel algorithm, and relates to the technical field of distributed formation maneuvering control, and the method comprises the steps: building a dynamic model of a ground-to-ground heterogeneous cluster, and building an undirected graph representing an interaction topological structure of the ground-to-ground heterogeneous cluster; modeling a distributed safety critical formation maneuvering control problem of the air-ground heterogeneous cluster; a fully distributed dynamic compensator facing each follower and a formation maneuvering controller based on an adjustable funnel algorithm are designed, and then a safety-critical control framework based on a disturbance observer is adopted to construct a composite controller; and acquiring a virtual navigator signal and inputting the virtual navigator signal to the constructed various controllers to obtain an actual formation control signal of each follower, and executing distributed safety-critical formation maneuvering control on the followers. Through a distributed safety critical formation maneuvering strategy based on an adjustable funnel method, collision / obstacle avoidance and disturbance suppression of an air-ground heterogeneous cluster can be realized.

The invention relates to the technical field of spraying control, and discloses a water turbine spraying process parameter real-time monitoring, regulating and controlling method and system.The water turbine spraying process parameter real-time monitoring, regulating and controlling method comprises the following steps that multi-modal data in the spraying process is collected, and a four-dimensional data structure is constructed; tensor decomposition is carried out, and a core feature tensor and a factor matrix are extracted; constructing an enhanced game strategy model, and outputting a process parameter control strategy; lyapunov optimization is introduced, and regulation and control input is generated; the control strategy and the control input are combined to generate a spraying execution action; and performing feedforward compensation based on the disturbance observer to form a final control instruction. According to the method, the multi-modal process data fusion and tensor decomposition technology is adopted, the four-dimensional data tensor is constructed, the core features of the spraying process are extracted, and by means of the method, the system can more comprehensively capture dynamic changes in the spraying process, and an accurate technological parameter control strategy is provided.

The invention relates to the field of advanced guidance control of aircrafts, and discloses a terminal angle and view field constraint three-dimensional guidance law and system for intercepting a maneuvering target, and the specific steps are as follows: firstly, designing a sight angle rate profile expected to be tracked, and then designing a terminal angle and view field constraint guidance law of preset time. The advanced preset time control technology and the novel sight angle rate forming technology are adopted for achieving aircraft guidance control, the guidance law with the terminal angle and view field constraint is designed, and the maneuvering target can be intercepted at the expected terminal angle.

The invention discloses a low-rigidity heavy-load permanent magnet synchronous motor flexible system structure resonance suppression method, and relates to the technical field of permanent magnet synchronous motor control, and the method comprises the steps: carrying out the dynamic filtering of an input position signal through setting a TD tracking differentiator, and generating a smooth planning instruction and a differential signal thereof; based on the planned instruction differential signal, a speed feed-forward control method is adopted to introduce feed-forward compensation in a position closed loop; constructing a disturbance observer according to the electromagnetic torque equation of the motor, estimating the actual wheelbase of the system in real time, and performing disturbance compensation; based on system resonance characteristics, an IP control method is adopted to perform pole assignment, and proportional gain and integral gain are set to suppress structure resonance and optimize closed-loop response. According to the method, a relatively good resonance suppression effect can be achieved without displacement, speed or acceleration signals of a load end and information such as very accurate load resonant frequency, relatively good dynamic response is achieved, and the requirement on hardware is reduced.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an aerial work six-degree-of-freedom mechanical arm and a self-adaptive anti-interference control method and system.The self-adaptive anti-interference control method comprises the steps that a mechanical arm structure is manufactured through an arm body designed in a carbon fiber topological optimization mode and a joint shell provided with a flow guide groove; constructing a dynamic disturbance observer based on a DDPG algorithm, outputting a dynamic compensation amount through the dynamic disturbance observer, calculating a wind power disturbance value in combination with a disturbance compensation algorithm, and integrating the wind power disturbance value to a control law of the unmanned aerial vehicle; adjusting impedance parameters on line based on a TD3 algorithm; and generating a real-time obstacle avoidance path based on an optimized multi-target PPO path planning algorithm, and executing a path planning task of the corresponding real-time obstacle avoidance path. The unmanned aerial vehicle has the advantages that the wind disturbance resistance is remarkably enhanced, the load sudden change stability is remarkably optimized, the task energy consumption is remarkably reduced, the narrow space adaptability is remarkably improved, and the light weight is achieved.

A motor control method based on an improved composite reaching law and a sliding mode observer belongs to the technical field of permanent magnet synchronous motor system control, and comprises the following steps: firstly, considering motor internal parameter change and external load disturbance, and establishing a disturbance-containing permanent magnet synchronous motor mathematical model and a motor state equation; secondly, providing a new switching function, constructing an improved composite reaching law, completing stability proving, and analyzing rapid convergence and buffeting suppression capability of the improved composite reaching law; then constructing an anti-saturation integral sliding mode surface, and designing a sliding mode speed controller according to the permanent magnet synchronous motor mathematical model containing disturbance, the anti-saturation integral sliding mode surface and the improved composite reaching law; and finally, aiming at disturbance in the controller, designing an improved sliding mode disturbance observer, and completing stability proving. The contradiction between fast convergence and buffeting suppression in an existing sliding mode reaching law scheme is solved, and the provided improved sliding mode observer improves the observation precision and the response speed.

The invention relates to the technical field of process control, and discloses a multiple cyclic utilization process control method of regenerated polyethylene for tailing seepage prevention, which comprises the following steps: synchronously acquiring melt pressure, screw driving motor current and a control input sequence, calculating a cross-correlation function of the current and the pressure, and identifying physical transmission lag time; monitoring an uncommanded residual component of the current in real time, deducing an impending pressure fluctuation amplitude based on a cross-correlation function, and generating an inertia feedforward compensation amount; according to the method, a dual-time scale model is utilized to update parameters online and construct a disturbance observer to generate a feedback compensation control quantity, feedforward and feedback compensation are superposed to a basic output quantity to generate a final driving instruction, a heterogeneous signal time sequence correlation mechanism is utilized, reverse adjustment is carried out before pressure fluctuation is transmitted to a machine head through a screw, and the pressure fluctuation is reduced. And a control blind area caused by physical transmission lag is avoided.

The invention discloses a power system load frequency control method considering disturbance compensation and a related device, and belongs to the technical field of power system regulation and control. The method comprises the following steps: respectively carrying out frequency modulation characteristic analysis on a speed regulator, a prime mover and a generator-load of the power system, and establishing a subsystem nominal model of the multi-region interconnected power system; designing a disturbance observer to observe external unknown disturbance to obtain a disturbance estimation value, and further obtaining a subsystem load frequency control model containing disturbance compensation information; based on a distributed model prediction control strategy, a distributed model prediction controller considering disturbance compensation is designed according to the subsystem load frequency control model containing the disturbance compensation information; when a certain area in the interconnected power system is disturbed, the frequency deviation of each sub-area is adjusted to be zero through a distributed model prediction controller considering disturbance compensation, and it is ensured that power exchange between connecting lines in the sub-areas and the interconnected areas of the connecting lines is kept in a zero steady state.

The invention discloses a novel model-free super-spiral sliding mode control method based on a sliding mode disturbance observer, and the method comprises the steps: designing a novel model-free super-spiral sliding mode controller of a rotating speed ring based on the combination of a novel super-local model and a second-order super-spiral law; meanwhile, a sliding mode disturbance observer is designed to estimate uncertain and unknown disturbance parts of system parameters in real time and feed back to a novel model-free super-spiral sliding mode controller of a rotating speed ring, so that the rotating speed of the motor is controlled; the controller introduces a linear system state item and a nonlinear disturbance item according to the novel super-local model, establishes a novel super-local model of the system, combines the novel super-local model of the system with a rotating speed ring state equation of the motor, establishes a novel super-local model of a rotating speed ring, and performs the super-local model of the rotating speed ring; and establishing a novel model-free super-spiral sliding mode control law of the rotating speed ring based on the novel super-local model of the rotating speed ring and an observation result of the sliding mode disturbance observer. The influence of external disturbance on the motor is effectively solved, buffeting is weakened, and effective tracking of the given rotating speed can be achieved.

The invention provides an unmanned surface vessel recursive terminal sliding mode control method based on a novel disturbance observer, and relates to the technical field of unmanned surface vessels. The method comprises the following steps: firstly, designing a fixed time disturbance observer (FTDO) to suppress model uncertainty and adverse effects of external disturbance; and then an adaptive fixed time disturbance observer (AFTDO) is developed, and the adaptive law does not need lumped disturbance priori knowledge. Different from an existing fast non-singular terminal sliding mode surface (FNTSMs) which adopts a linear sliding mode (LSM) to avoid singularity, the method innovatively constructs a recursive terminal sliding mode surface (RTSM), thoroughly avoids singularity through a recursive structure, and remarkably improves convergence precision and speed near a balance point at the same time. A fixed-time recursive terminal sliding mode controller (FTRTSMC) is designed based on a lumped disturbance estimated value of the AFTDO, and it is strictly ensured that a trajectory tracking error converges to zero within fixed time (convergence time is irrelevant to an initial state).

The invention discloses a learning-based composite layered anti-interference control system and method suitable for a large-windward-area unmanned aerial vehicle, is used for realizing robust wind resistance control of the large-windward-area unmanned aerial vehicle, and aims at the flight characteristics of large windward area and sensitivity to external wind field change in a vertical take-off and landing stage. A wind speed estimation method without an additional sensor is provided, modeling of external disturbing force is realized in combination with a Gaussian process regression algorithm, and compensation of the disturbing force is realized by using quaternion-based model prediction control, so that the influence of an external change wind field on the dynamics of the large-windward-area unmanned aerial vehicle is reduced, and the trajectory tracking precision is remarkably improved. A backstepping controller based on SO (3) is designed in an attitude control loop, a nonlinear disturbance observer is integrated, and active compensation of external disturbance torque and robust tracking control of attitude are realized. Based on the technical characteristics, a complete dynamic control link capable of estimating and feeding back compensation disturbance in real time is further constructed.

The invention provides an underwater robot dynamic positioning method for coping with complex disturbance, and the method comprises the steps: collecting the attitude angle, angular velocity, linear velocity and linear acceleration information of an underwater robot, and generating fused high-frequency and high-precision pose information; designing an extended state disturbance observer, and estimating a disturbance value in real time through a feedback function and an auxiliary variable equation; adding the disturbance estimation value and the output force of the dynamic model, constructing a constraint condition of model prediction control, and solving the optimal control input of N prediction time domains in the future through rolling time domain optimization; and based on the optimal control input, constructing a quadratic programming problem of thrust distribution in combination with the space pose distribution matrix of the thrusters, solving the minimum energy solution of the thrusters, and outputting the minimum energy solution to a thruster execution mechanism. According to the technical scheme of the invention, the robust control of the underwater robot in a strong disturbance environment can be realized. The method mainly solves the problem of fixed point and attitude determination when the underwater unmanned robot faces underwater turbulence or other complex disturbances.

The present disclosure relates to a work space force / acceleration disturbance observer and a robot including the same. The work space force / acceleration disturbance observer is connected to an impedance-based motion controller in a work space. The work space force / acceleration disturbance acquires a disturbance estimate value in consideration of an interactive force and an acceleration applied to an end effector of a robot. The disturbance estimate value is expressed in Equation 1: {circumflex over (D)}=Q(−F′c+Mo{umlaut over (x)}+Fext) wherein {circumflex over (D)} is the disturbance estimate value, “Q” is a “Q” filter, F′c is a control input force, {circumflex over (M)}o is a mass matrix estimate value, {umlaut over (x)} is the acceleration, and Fext is the interactive force.

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The invention relates to the technical field of servo motor control, and particularly discloses an intelligent control system and method for a servo motor, and the method comprises the steps: collecting the position, speed, current and acceleration data of the servo motor, and constructing a state vector; constructing a reference disturbance observer based on the theoretical parameters, and outputting an observation state, a disturbance value and an observation residual error; a multi-scale time sequence feature tensor is constructed by using the observation residual error and the state vector, and future disturbance is predicted through a CNN-Transform network; carrying out adaptive fusion on the neural network prediction result and the output of the reference observer; performing security constraint on disturbance compensation through a constraint filter and an amplitude limiter; and injecting the constrained compensation signal into a control system, and continuously optimizing the network performance through online incremental learning. According to the method, a traditional observer and a deep learning technology are fused, precise prediction and effective suppression of complex nonlinear disturbance are realized, and the control stability of the servo motor is remarkably improved.

The invention discloses a two-degree-of-freedom helicopter optimal tracking controller design method based on disturbance observation, and relates to the technical field of two-degree-of-freedom helicopter control, and the method comprises the steps: considering the internal uncertainty and external disturbance of a system, and constructing a two-degree-of-freedom helicopter system equation; a pre-defined time nonlinear disturbance observer is introduced to estimate disturbance, coordinate transformation is constructed based on a dynamic surface control technology, a pre-defined time filter is introduced, a two-degree-of-freedom helicopter system model is decomposed into two stages of subsystems, and an optimal performance function is constructed for each subsystem. And designing an optimal virtual controller and a predefined time trajectory tracking controller. The controller designed by the invention can ensure that all signals of the whole two-degree-of-freedom helicopter are bounded within the preset time, can effectively improve the transient performance and the steady-state performance of the two-degree-of-freedom helicopter, and can ensure that the two-degree-of-freedom helicopter can still quickly and accurately track a reference trajectory within the preset time after being disturbed.

The invention discloses a quadrotor unmanned aerial vehicle trajectory tracking control method, a quadrotor unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicle control. The method is technically characterized by comprising the following steps: firstly, providing a fast terminal sliding mode disturbance observer for unknown disturbance of a system so as to realize accurate estimation of the disturbance within preset time; then designing a preset time fast terminal sliding mode controller based on disturbance estimation information, and further weakening a buffeting phenomenon of the system by using a saturation function; finally, based on a Lyapunov function method, it is proved that the system can achieve global predetermined time stability; according to the method, predefined time convergence of the trajectory tracking error of the quad-rotor unmanned aerial vehicle under unknown disturbance can be realized, the upper bound of the stabilization time can be randomly preset in a physical limitation range, the rapidity of the system is ensured, buffeting is eliminated, and the stability of the system is improved.

The invention discloses an SPMSM robust speed control method based on an adaptive high-order expansion sliding-mode observer, and the method comprises the following steps: designing and building a third-order LESO system according to a motor mathematical model, and the third-order LESO system is used for outputting an estimated rotating speed actual value, an estimated acceleration and estimated total disturbance; combining a non-singular fast terminal sliding mode algorithm with a disturbance observer, and designing a non-singular fast terminal sliding mode disturbance observer which is used for observing an acceleration state variable of the motor; the acceleration state variable is input into the third-order LESO system and replaces the estimated acceleration, and a high-order expansion sliding mode observer is generated; and constructing an active-disturbance-rejection controller by using the high-order expansion sliding-mode observer, linear state error feedback and total disturbance compensation, and performing speed control on the motor by using the active-disturbance-rejection controller. According to the method, high-precision observation of disturbance can be realized under the conditions that only less interference information exists and the method is not sensitive to interference frequency change.

The invention discloses a distributed anti-interference fault-tolerant control method and a distributed anti-interference fault-tolerant control system for a multi-six-rotor unmanned aerial vehicle attitude system. The control method comprises the following steps: constructing a multi-six-rotor unmanned aerial vehicle attitude model based on a multi-six-rotor unmanned aerial vehicle attitude system model and interference uncertainty; designing a disturbance observer which is used for estimating the degree of external disturbance and actuator faults; and based on the output of the multi-six-rotor unmanned aerial vehicle attitude model and the degree of external interference and actuator fault, constructing a Lyapunov function by using a backstepping recursion technology, and designing a distributed anti-interference fault-tolerant controller for generating a control output signal to the multi-six-rotor unmanned aerial vehicle attitude model. According to the method, the Lyapunov function is constructed, so that output signals of all followers and leaders are synchronous, and errors are converged. Meanwhile, the general approximation characteristic of the neural network is utilized, the nonlinear term and the unmodeled dynamic are approximated online, and the model complexity is reduced.