522 results about "Disturbance observer" patented technology

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 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 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 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 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 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 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 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.

The invention discloses a wheel-foot humanoid robot operation control method and system based on maneuverability optimization, and relates to the technical field of robot intelligent control. According to a mechanical arm tail end trajectory tracking task and mechanical arm joint motion constraints, a weight matrix is calculated in a self-adaptive mode through state vectors of a base and a mechanical arm joint; a robot dynamic model is constructed, and the tail end contact force of the mechanical arm is estimated based on a disturbance observer; the direction of the control force is determined according to an estimation result, and then force maneuverability enhancement is carried out; a speed instruction of an end effector is obtained, the expected base speed and the expected mechanical arm joint speed are obtained through a weight matrix, a hierarchical control frame of a model prediction controller and a whole-body controller is constructed based on an integrated dynamic model, the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained through solving, and the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained. Therefore, the whole-body motion control of the robot is driven. Through organic combination of disturbance compensation and force maneuverability optimization, the motion stability and operation efficiency of the robot are enhanced.

The invention provides an unmanned ship large-curvature path tracking control method based on curvature self-adaption and improved disturbance observation, and belongs to the technical field of unmanned ship autonomous navigation and path. The method comprises the following steps: loading a reference path and initializing parameters; calculating a transverse error and a path curvature in each control period, wherein the path curvature adopts a multi-stage calculation and smoothing method; determining a preview point through a self-adaptive preview distance calculation method based on the transverse error and the curvature; an improved state disturbance observer SDO is used for estimating disturbance, and the bandwidth of the observer is adjusted through a self-adaptive mechanism driven by two factors; calculating a control quantity through a control law in combination with deviation and disturbance; and updating the boat body state until path tracking is completed. According to the method, the preview distance and the observer bandwidth can be dynamically adjusted, disturbance can be effectively estimated and compensated, the precision and robustness of the unmanned ship in large-curvature path tracking are improved, and the accuracy of system state observation and the stability of control performance can be ensured when scenes such as a large-curvature path and a straight line segment are switched.

The invention discloses a distributed consistency control method suitable for a multi-unmanned trolley system, and designs a control strategy based on a preset time disturbance observer for the problem that communication topology dynamic change and external disturbance interference are difficult to consider at the same time. In system modeling, each trolley is modeled as a second-order nonlinear system, and external disturbance is generated by a heterogeneous external source system. In the design of the controller, a disturbance observer with a preset time convergence characteristic is introduced, and strict convergence of disturbance estimation errors can be realized in finite time. Control input is fused with three parts of neighbor state difference feedback, leader tracking and disturbance compensation, and it is ensured that the system can still achieve a consistent target in a complex dynamic environment. By constructing a combined Lyapunov function and combining a Markov jump system theory, it is proved that a system state error and a disturbance estimation error converge to zero after a preset time. A simulation result verifies the effectiveness and stability of the method under communication switching and non-ideal disturbance interference.

The invention discloses a collaborative robot joint external force estimation method, and relates to the technical field of collaborative robot joint external force estimation, and the method comprises the steps: building a joint kinetic model, and obtaining the basic kinetic parameters of a collaborative robot joint; the angular displacement deviation between the input shaft and the output shaft of the speed reducer is obtained, and the compensated torsional angle difference is calculated according to the angular displacement deviation; a joint variable stiffness model is established, multiple sets of calibration data are obtained through experiments, and parameters in the joint variable stiffness model are identified according to the multiple sets of calibration data; based on the basic dynamic model and the joint variable stiffness model after parameter identification, a nonlinear disturbance observer is constructed in combination with introduced auxiliary variables; and system disturbance is observed and compensated through a nonlinear disturbance observer, so that an external torque estimated value acting on the tail end of the joint is calculated and output in real time. According to the method, high-precision and real-time estimation of the external torque can be effectively considered, and meanwhile, the system hardware cost and the structure complexity are greatly reduced.

The invention discloses an air-ground cooperative system model prediction formation control method in an underground pipe gallery environment, and the method comprises the steps: constructing an air-ground cooperative system nonlinear model, and constructing an underground pipe gallery model; designing a high-order interference observer to estimate current unknown external disturbance, and establishing an interference prediction model to estimate future unknown external disturbance; a rolling optimization control strategy based on state prediction is designed, control signals of all followers are optimized according to the current state of the system and the predicted future state in each control period, and the tracking precision is ensured while the tracking precision is improved. Collision between followers, collision between the followers and the wall of the pipe gallery and obstacle avoidance between the followers and static and dynamic obstacles in the pipe gallery are achieved; and solving is carried out based on a distributed model prediction formation control algorithm combined with a Lyapunov stability theory, so that each follower keeps an expected formation configuration while tracking a leader trajectory. And the driving safety of the formation in the underground pipe gallery environment is ensured.

The invention discloses an electric linear servo system control method based on cascade LESO-DISMC. The method comprises the following steps: firstly, establishing a complete mechanism model of a permanent magnet synchronous motor servo loading system; then designing DOB interference observer real-time compensation by adopting a LuGre friction model and a gap dead zone model; a feedforward control quantity is constructed by utilizing a measurable displacement signal, and redundant torque is inhibited; designing a dynamic integral sliding mode controller to ensure global stability; a high-low bandwidth LESO is constructed, and both fast tracking and smooth filtering are considered; and finally, trajectory optimization is carried out, a smooth trajectory is generated by adopting polynomial interpolation for the step and triangular wave signals, and mechanical vibration is inhibited. According to the method, a LuGre friction model is adopted to compensate nonlinear friction, cascade linear LESO and sliding mode control are combined, a track is optimized through an S-shaped curve, and the problem of'differential explosion 'is solved; according to the method, instruction smoothing, core control and friction compensation are fused, and the anti-interference capability and the loading precision of the system are improved.

The invention provides a permanent magnet synchronous motor sliding mode control method and system based on disturbance compensation, and the method comprises the steps: constructing a first motor state equation based on a permanent magnet synchronous motor mathematical model containing disturbance; secondly, on the basis of a sliding mode control theory, a novel adaptive reaching law and a non-singular fast terminal sliding mode surface are constructed, stability proving is completed, and the fast convergence capability is analyzed; designing a novel speed ring controller through the state equation, the reaching law and the sliding mode surface; designing a sliding mode disturbance observer for a disturbance part in the speed loop controller; and finally, carrying out FOC speed regulation control on the permanent magnet synchronous motor by using the designed speed ring controller and the disturbance observer. Compared with an existing well-known sliding mode control scheme, the hybrid control method of the speed loop controller and the sliding mode disturbance observer is adopted, system buffeting is effectively weakened, meanwhile, the dynamic response speed is considered, and the system robustness is improved.

The invention belongs to the technical field of EL system control, and discloses a preset performance control method considering dynamic and constraint of an execution mechanism. The method comprises the following steps: firstly, establishing a system dynamics model considering dynamic and input saturation constraints of an executing mechanism; then, designing an asymmetric tubular performance boundary to restrain a system tracking error, and defining a conversion error according to the system tracking error; meanwhile, a disturbance observer based on immersion and invariance is designed, and composite disturbance is estimated. Furthermore, a tubular preset performance controller is designed by adopting a backstepping method, a virtual control law and an expected torque are constructed, and a multi-state auxiliary system is introduced to compensate the input saturation influence. And finally, a control instruction is generated by integrating the auxiliary system state, the virtual control law, the expected torque and the interference estimation value, and the control instruction acts on the system after being processed by a saturation function. According to the method, actuator dynamics, input saturation and external disturbance can be processed at the same time, and tracking errors are ensured to strictly follow a preset performance boundary.

The invention belongs to the technical field of optical device control, and discloses a fast reflector sliding mode control method and related equipment, and the method comprises the steps: building a closed-loop error model of a fast reflector; the closed-loop error model comprises a lumped disturbance item jointly formed by external disturbance and system parameter measurement deviation; setting a fixed time RBF disturbance observer; the fixed-time RBF disturbance observer is used for estimating a lumped disturbance item so as to output a lumped disturbance estimated value, and the fixed-time RBF disturbance observer is configured with a weight updating law which enables an estimation error to converge within fixed time irrelevant to an initial state; constructing a sliding mode controller based on a lumped disturbance estimated value output by the fixed-time RBF disturbance observer and a closed-loop error model; a sliding mode controller is used for controlling the fast reflecting mirror; therefore, the control precision and the anti-interference capability are improved, and the problems that the controller depends on the disturbance upper bound and the disturbance estimation convergence time depends on the initial state are solved.

The invention discloses an annular permanent magnet linear synchronous motor speed feedforward compound control method considering disturbance compensation, and the method comprises the steps: taking an annular permanent magnet linear synchronous motor TPMLSM as a control object, and building a voltage model of the TPMLSM under a three-phase static coordinate system; based on this, establishing a control model under a d-q rotating coordinate system; determining a speed loop transfer function of the TPMLSM based on conventional integral proportion (PI) control, introducing a feed-forward controller on the basis, and designing a TPMLSM speed feed-forward composite controller through the transfer function of the feed-forward controller; a quasi-resonance extended state observer (ESO) is used for observing external disturbance, a disturbance observation value is equivalent to a q-axis current disturbance quantity, and feedforward compensation is carried out on the q-axis current disturbance quantity to a speed ring for output, so that the anti-disturbance capability of the speed ring is improved; proportional control is introduced into disturbance observation items of the ESO disturbance observer, dynamic response of the disturbance observer under low bandwidth is accelerated, the dynamic response of a motor control system is improved, and the anti-disturbance capability of the system is enhanced.

The invention relates to the technical field of aerostat control, and discloses an aerostat control method and system, and the method comprises the steps: S1, collecting the internal state data, external environment data and environment parameters of an aerostat through a multi-source sensor; s2, processing the data acquired in the S1, and constructing a state and disturbance observer to obtain an aerostat state estimation value and an environmental wind disturbance estimation value; s3, based on the state estimation value and the wind disturbance estimation value of the aerostat, a self-adaptive control algorithm is adopted, a control instruction used for controlling the height and the horizontal position of the aerostat is generated, and the control instruction comprises a feedforward component used for actively compensating wind disturbance; and S4, distributing the control instruction to a channel power system of the aerostat and executing the control instruction. An integrated control architecture with state estimation, disturbance observation and adaptive control capabilities is constructed, three technical bottlenecks of weak control robustness, poor anti-interference capability and low intelligent level of a traditional aerostat in outdoor application are effectively solved, and the positioning precision and stability are improved.

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention discloses a design method of a barrier function rehabilitation robot safety tracking control system, and relates to the technical field of medical robots. The method comprises the steps that on the basis of an existing double-joint single-arm robot mathematical model, a mathematical model with uncertain model parameters, uncertain external disturbance and uncertain external force borne by the tail end is established, and the established model is closer to a real model of a rehabilitation robot; the uncertainty in the model is classified into one class, and a disturbance observer is used for estimating and compensating the uncertainty; a logarithmic obstacle Lyapunov function is adopted to constrain the joint angle; and designing an adaptive trajectory tracking controller based on the disturbance observer and the obstacle Lyapunov function method, and tracking a set trajectory. The high-precision tracking of the target trajectory is ensured, the actual motion trajectory always moves within a certain range on the two sides of the target trajectory, and the secondary injury of the patient in the rehabilitation process is avoided.

The invention discloses an unmanned ship adaptive optimal interference control method based on reinforcement learning, and particularly relates to the technical field of unmanned ship automatic control, and the method comprises the steps: building an unmanned ship trajectory kinematics model based on the position information and heading angle information of an unmanned ship under a geodetic coordinate system, and the corresponding speed information under an unmanned ship appendage coordinate system; the method comprises the following steps: establishing an unmanned ship trajectory dynamics model by considering the control operation of the unmanned ship and the time-varying environment interference problems of wind, waves, flow, unmodeled dynamics and the like in a marine environment in which the unmanned ship is located; introducing a radial basis function neural network based on a set unmanned ship trajectory mathematical model; designing a self-adaptive interference observer to estimate and offset time-varying environment interference in unmanned ship trajectory tracking; based on a radial basis function neural network and an interference observer, an unmanned ship adaptive interference suppression controller is designed by using an adaptive vector backstepping method.

The invention relates to a transverse movement berthing control method considering main thrust idling, which comprises the following steps of: dividing transverse movement berthing control into a controller part and a thrust distribution part, designing a three-degree-of-freedom controller for ship movement by utilizing a nonlinear disturbance observer in the aspect of the controller, and calculating force and moment required for transverse movement of a ship; in the aspect of thrust distribution, the discontinuity of a main thrust idle speed area and rudder force is considered, a thrust action range is decomposed into nine action ranges according to the thrust state of double main thrusters, multi-domain switching logic is designed to complete thrust distribution of control force, and therefore closed-loop control over ship transverse moving berthing is achieved. A simulation result proves the effectiveness of the method.

The invention discloses a flight path tracking method and device based on a dynamic prediction step length, a medium and a product, and the method comprises the steps: obtaining the real-time operation state information of a current moment through a sensor borne by a platform in the navigation process of a water surface unmanned platform; according to the real-time operation state information and a pre-constructed interference observer, estimating ocean unknown time-varying interference at the current moment; calculating a curvature time function according to a real-time state and a reference path, obtaining a path curvature through filtering, and dynamically adjusting a prediction step length according to the path curvature; on the basis of a model prediction controller, the motion state of multiple moments in the future is predicted by combining the real-time state, the interference estimation and the dynamic prediction step length; solving the current optimal command rudder angle by using the optimization function, and implementing control; and in each control period, the real-time state of the platform is updated, the execution is cyclically performed until the flight path tracking is completed, and the technical scheme of the embodiment of the invention effectively improves the accuracy and the adaptive control capability of the flight path tracking of the water surface unmanned platform under the complex sea condition.