780 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, the trajectory tracking error of the vehicle-manipulator coupling system is obtained. 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 be controlled to operate precisely along the desired trajectory.

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.

The invention provides a full-process monitoring and fault diagnosis method and system for a pneumatic conveying system. The method comprises the following steps: collecting multi-source monitoring data of the pneumatic conveying system; processing the multi-source monitoring data to obtain standardized monitoring data; constructing a training set based on the historical operation data, and training a pre-constructed deep learning model to obtain a system state evaluation model; based on the system state evaluation model and the multi-source monitoring data, adopting a system state vector algorithm to generate a differential flatness index; according to the differential flatness index, designing a k induction control algorithm, and generating control parameters for the rotating speed of an induced draft fan and the opening degree of a material distributing valve of the pneumatic conveying system; and constructing a disturbance observer with a self-adaptive safety boundary, and controlling the pneumatic conveying system based on the control parameters. According to the method, intelligent monitoring and safety control of the pneumatic conveying system are achieved in a mode of combining deep learning and intelligent control, and the operation efficiency and reliability of the system are improved.

The invention provides a water surface and underwater heterogeneous cooperative control method and device based on a preset time disturbance observer. The control method mainly comprises the steps that a water surface unmanned ship controller calculates an expected control torque according to a specified expected trajectory, the actual state information of an unmanned ship body and a compensation value obtained by the observer; the underwater unmanned vehicle controller calculates an expected control moment according to the expected trajectory obtained by the guidance method, the actual state information of the water surface unmanned ship, the actual state information of the underwater unmanned vehicle body and a compensation value obtained by the observer; and heterogeneous cooperative control of the water surface unmanned ship and the underwater unmanned vehicle is realized. According to the method, guidance of water surface and underwater heterogeneous cooperative control is completed by fusing vertical projection and a sight line method; according to the improved self-adaptive integral terminal sliding mode control method, the external interference is estimated by using the preset time interference observer and is compensated in the controller to improve the anti-interference capability of the system, and the robustness and rapidity of the system are improved while the tracking precision of the system is improved by the provided improved self-adaptive integral terminal sliding mode control method.

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 discloses a four-rotor unmanned aerial vehicle trajectory tracking control method based on a fuzzy disturbance observer. The method comprises the steps that S1, a kinetic model of a four-rotor unmanned aerial vehicle is established; s2, establishing a fuzzy disturbance observer (FDO); s3, establishing a position subsystem tracking controller; and S4, establishing an attitude subsystem tracking controller. According to the four-rotor unmanned aerial vehicle trajectory tracking control technology designed by the invention, the trajectory tracking problem of the unmanned aerial vehicle under the conditions of unknown parameter uncertainty and external disturbance is comprehensively considered, and the uncertainty and external disturbance of system parameters are evaluated based on a fuzzy disturbance observer. Besides, a dynamic curved surface control method is designed, researched and developed to construct a trajectory tracking controller, so that the robustness of the quad-rotor unmanned aerial vehicle is improved, and the explosion problem of differential terms of the system is reduced. For the designed trajectory tracking controller, a stability proof is given, which indicates that the tracking error of the subsystem can be globally consistent and bounded.

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 provides a stipulated performance optimal backstepping control method and system for an unmanned ship formation, and relates to the technical field of unmanned ship optimal backstepping control, and the method comprises the steps: building a dynamic model of multiple unmanned ships, and compensating the external interference and unknown nonlinear terms of the dynamic model through a disturbance observer and a neural network identifier; an optimal virtual controller is constructed, a derivative of optimal virtual control is calculated by introducing a first-order integral filter, and then an optimal actual controller is constructed; designing a monotonic tube boundary function by utilizing the characteristics of a hyperbolic cosecant function; formation control is carried out through a virtual controller and an actual controller by using a continuous control law and a monotone control boundary function, and the position of the following unmanned surface vehicle is controlled to be synchronous with the expected trajectory of the leading unmanned surface vehicle under the condition of external disturbance; according to the method, the disturbance observation estimator is used for time-varying external disturbance, a neural network is used for approximating unknown parameters of a dynamic model, and a monotone pipe boundary function is used for enabling formation errors to evolve in a specified area.

The invention relates to a four-rotor unmanned aerial vehicle anti-interference trajectory tracking control method based on an observer and a tracking differentiator, and belongs to the field of aerial robot control. According to the method, various aerodynamic disturbances in the environment are estimated in real time by using the nonlinear disturbance observer; then, external interference estimated in real time is used as an interference compensation item of a sliding mode controller to obtain control laws of a four-rotor position subsystem and a four-rotor attitude subsystem, and meanwhile, an improved tracking differentiator is used for providing a smoother expected attitude signal; and finally, proving accurate estimation of the nonlinear disturbance observer on external disturbance through a global consistent final bounded stability theory, and proving the stability of the four-rotor control system through a Lyapunov method. A novel high-frequency switching function established in a control law is combined with an improved tracking differentiator, so that the buffeting problem of sliding mode control is effectively suppressed, and a nonlinear interference observer improves the anti-interference capability of four rotors; the control input buffeting is reduced while the robustness of the four rotors is 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 discloses an underwater vehicle tracking control method with state constraint under input saturation. The method comprises the following steps: firstly, constructing an AUV control system containing model uncertainty and unknown interference based on a kinematics model and a dynamics model of the AUV, and obtaining a reference trajectory of a tracking target; establishing an error model of the AUV control system in combination with the error conversion function, and obtaining a design variable related to the position tracking error; meanwhile, deducing a design variable related to a speed tracking error; constructing a fixed time integral sliding mode lumped disturbance observer based on a design variable related to a position tracking error; and finally, combining a fixed time integral sliding mode lumped disturbance observer and design variables related to a speed tracking error to construct a trajectory tracking control system, and designing a fixed time convergence sliding mode controller by using a continuous input signal and a position and speed adaptive law. According to the invention, the tracking error is stabilized to zero in a fixed time; and continuous control input is realized.

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 stable control method for a deformation process of an unmanned aerial vehicle in a complex environment, and relates to the technical field of unmanned aerial vehicle flight control. The state-space equation is used for describing flight dynamics parameters in the deformation process of the unmanned aerial vehicle in the complex environment; constructing a disturbance observer based on the state-space equation; the disturbance observer is used for observing a lumped disturbance quantity caused by a complex environment and wing tip folding deformation; constructing a sliding mode surface equation according to the attitude angle tracking error; constructing an attitude stability controller according to the disturbance observer and the sliding mode surface equation; and based on the Lyapunov stability theory, performing stable control on the unmanned aerial vehicle by using an attitude stability controller. The lumped disturbance quantity caused by the complex environment and wing tip folding deformation is considered during flight control of the unmanned aerial vehicle, and the control precision of the deformable unmanned aerial vehicle under the complex environment condition can be improved.

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 belongs to the technical field of unmanned aerial vehicle trajectory tracking control, and particularly discloses an unmanned aerial vehicle preset performance control method and system considering time-varying position constraints. According to the method, under the condition that the unmanned aerial vehicle has time-varying position constraint, model uncertainty, actuator fault and wind disturbance, a nonlinear mapping method is firstly adopted to convert a system with position constraint into an unconstrained system, then a preset performance control method and a self-adaptive backstepping technology are adopted to carry out controller design on the converted system, and therefore the control precision of the unmanned aerial vehicle is improved. The system error is kept in a preset boundary function range; the invention also designs a fuzzy logic system (FLS) and a nonlinear disturbance observer to estimate the uncertainty and wind disturbance of the model, thereby providing a trajectory tracking control scheme combining model mapping and preset performance. Under the control of the method, the quad-rotor unmanned aerial vehicle has good robustness, and even if an actuator breaks down, the tracking error can still be kept within a preset interval.

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 USV rotary column stabilization control system considering complex disturbance and motor dynamic characteristics, belongs to the field of motion control systems of ocean mobile observation platforms, and aims to improve the stability and control efficiency of USV navigation. The method comprises the following specific steps: firstly, establishing a rotary column stabilizer lift model, a USV nonlinear rolling model and a servo motor dynamic model; then designing a Backstepping controller based on a differential item disturbance observer, estimating and compensating disturbance caused by external and model uncertainty in real time, then adjusting expected control input in real time, and ensuring that the output rolling angle tracks the expected rolling angle. The MPC controller based on servo motor state feedback is designed, the state quantity of the motor is fed back to the controller for prediction and adjustment, the problems of response lag and output overload of the servo motor in complex sea conditions are effectively solved, rolling angle error minimization and effective control over energy consumption are further achieved, and the service life of the servo motor is prolonged. And the purpose of multi-objective optimization is achieved.

A periodic attitude tracking task-oriented unmanned aerial vehicle predetermined time anti-interference learning control method comprises the following steps: establishing a kinetic model of a four-rotor aircraft system, dividing the uncertainty of the system into a periodic uncertainty part and a non-periodic uncertainty part, and initializing the state and control parameters of the system; designing a predetermined time disturbance observer, and quickly estimating and compensating a non-periodic uncertain part; designing a predetermined time sliding mode variable; designing a full-saturation repetitive learning law, and accurately estimating and compensating the uncertain part of the period; and designing a repetitive learning controller based on the predetermined time disturbance observer, the predetermined time sliding mode variable and the full-saturation repetitive learning law. According to the method, the influence of the system uncertainty on the control precision of the unmanned aerial vehicle can be effectively suppressed, and it is ensured that the upper bound of the minimum convergence time of the observation error can be preset by adjusting an adjustable parameter, so that the tracking error is converged to the neighborhood near the original point within the preset time.