67 results about "Event triggered" patented technology

The present invention belongs to the field of smart power grids and power system automation control. Disclosed is a load emergency control method based on a dynamic event triggering mechanism, which method comprises: on the basis of an indicator of safe operation of a system, performing region division on a distribution network; proposing an adaptive load level division method based on user response willingness, and by taking the minimization of the system operation cost of the distribution network as an objective, establishing a precise load control model of the distribution network; and using a dynamic event triggering mechanism to reduce communication between substations and a master station of the distribution network, so as to realize effective exchange and precise execution of load control policy information. The method of the present invention can precisely realize precise control of a load, and can effectively alleviate communication transmission pressure of a distribution network, thereby ensuring the stability of a power grid and the continuous supply of critical loads.

The invention provides a motion control method of a coupled output limited Mecanum wheel trolley based on a neural network and event triggering, a storage medium, equipment and a computer program product. The motion control method comprises the following steps: adopting a conversion matrix of Mecanum wheels; establishing a dynamic model of the Mecanum wheel trolley; decoupling the coupling output limitation, and converting the coupling output limitation into time-varying non-coupling limitation; improving the design of a sliding mode surface by adopting an error conversion function and a barrier function, and constructing a sliding mode controller of a trolley with limited coupling output; constructing a neural network controller; introducing an event triggering mechanism, and constructing a neural network sliding mode controller for the coupled output limited trolley based on the neural network and sliding mode control; and verifying the stability of the designed controller. According to the invention, the trajectory tracking problem of the Mecanum wheel trolley with limited coupling output based on the neural network and event triggering is solved.

The invention provides a heterogeneous multi-agent system control method under a DoS attack based on an event triggering strategy. Robust cooperative control under a complex attack environment is realized through the following steps: S1, performing state description and topological structure modeling on a heterogeneous multi-agent system; s2, carrying out approximation on an unknown nonlinear function in the system; s3, restraining the error dynamic state through a performance function, and ensuring that the system response meets the preset precision; s4, designing a time-varying threshold function, and dynamically adjusting a trigger condition to reduce communication burden; s5, designing an anti-attack controller in combination with event triggering and a Lyapunov theory; s6, designing an adaptive law to carry out online estimation on disturbance; and S7, testing synchronization precision, communication efficiency and anti-attack performance based on a physical platform. According to the method, deep fusion of the event triggering mechanism and the preset performance constraint is realized for the first time, and the self-adaptive dynamic threshold strategy is introduced, so that malicious interference of DoS attacks on a communication link is effectively dealt with, and it is ensured that the heterogeneous nodes can still meet preset performance indexes in an attack scene.

The invention relates to a bridge crane game model-free optimal control method based on event triggering, and the method comprises the steps: collecting a state vector of a bridge crane in real time, and building a nonlinear multi-player system model of the bridge crane; estimating an unknown dynamic function and an input gain matrix on line in the input identifier neural network; according to an event triggering mechanism, whether triggering is conducted or not is judged based on the error between the current state vector and the state vector of the recently-triggered sampling; if so, triggering a dynamic updating instruction; under a non-zero sum game framework, obtaining an optimal value function gradient based on an estimation result and a current state vector through a self-adaptive evaluator network, and generating an event triggering optimal control law of each player based on a sampled state vector; and the event triggering optimal control law is processed by a zero-order retainer and then is output as a physical driving signal to control the operation of the bridge crane. Compared with the prior art, the method has the advantages of high applicability, high disturbance resistance, high accuracy and the like.

The invention discloses a wind power generation system model prediction control method and device based on event triggering. The method comprises the following steps: establishing a wind power generation system model; based on the wind power generation system model, whether an event triggering mechanism is activated or not is judged according to the deviation between the current state and the target state of the system and the maximum sampling interval time; designing an LMPC algorithm based on event triggering: if an event triggering mechanism is activated, solving an optimization problem in a finite time domain to obtain an optimal control sequence of the system, and fusing Lyapunov function constraint to ensure the closed-loop stability of the system; wherein the optimization problem takes a minimum weighted sum of a system output tracking error and a control input variable quantity as a target; and deploying the LMPC algorithm based on event triggering into a control device of the wind power generation system so as to realize optimal control of the wind power generation system. The stability and robustness of the wind power generation control system can be effectively improved.

The invention relates to the technical field of industrial automation control, and discloses an event-triggered self-tuning PID temperature control system and method. According to the system, a parameter updating loop is activated when specific conditions are met through an event triggering mechanism, and game theory self-learning and a preset performance control method are integrated into an extended PID controller structure through the loop, so that dynamic adjustment of parameters is achieved. The system can respond to temperature deviation and external disturbance in real time, and therefore multiple performance indexes such as overshoot, stabilization time and energy consumption are optimized at the same time. All the modules jointly optimize a control strategy through data interaction and function cooperation so as to reduce the computing resource consumption of the system. In a resource limited scene, the mechanism improves the robustness of the system. Compared with a traditional PID algorithm, the method is higher in adaptability in an uncertain environment. Through innovative combination of event triggering and reinforcement learning, the method aims at overcoming the limitations of response delay, remarkable overshoot, resource waste and the like of the existing algorithm in a complex scene.

The invention discloses a self-adaptive event trigger tracking control method for a complex system under sensor faults, which belongs to the technical field of event trigger control, and comprises the following steps: firstly, acquiring output signals of a controlled object by using a sensor, and establishing a system dynamics and fault mathematical model by combining nonlinear characteristics, external interference and sensor gain change and measurement errors; based on a model, a nonlinear constraint characteristic is determined, a dynamic gain and state observer is constructed by applying a nonlinear boundary conclusion under a sensor fault, and an unmeasurable state of the system is estimated in real time. And estimating a state by combining the dynamic gain and a state observer, determining a triggering moment by applying integrated event triggering judgment logic, generating a feedback self-adaptive event triggering control signal and outputting the feedback self-adaptive event triggering control signal to an actuator. According to the method, system nonlinearity, sensor faults and external interference can be compensated, it is ensured that accurate tracking reference signals are output, it is ensured that closed-loop signals are bounded and free of the sesame phenomenon, and communication and computing resources are effectively saved.

The present application relates to a kind of multi autonomous guide vehicle (AGV) cluster security path tracking control method of resisting false data injection attack, belong to control engineering technical field.For the problem that system stability and safety are threatened by false data injection attack in unreliable network, the present application introduces dynamic event triggering mechanism, only updates control input when necessary, reduces communication burden and energy consumption;Design adaptive state estimator, recover normal system signal from tampered sensor and actuator signal;Adaptive attack compensation mechanism is built, to inhibit the negative influence of attack on system performance.The present application fully considers the application requirement of multi-AGV cluster system in unreliable network environment, by introducing dynamic event triggered control, designing adaptive state estimator and building adaptive attack compensation mechanism, false data injection attack can be effectively resisted, and strong guarantee is provided for multi-AGV cluster system security path tracking control.

The application belongs to the technical field of aerospace, and relates to a distance-keeping game control framework and method for a maneuvering non-cooperative target. The framework comprises a rolling control window, an event perception window arranged in each rolling control window, and an event triggering mechanism arranged in each event perception window. The event perception window predicts an orbit state through a two-body dynamics model, the event triggering mechanism calculates a relative distance between an active satellite and a target satellite at each discrete point according to an orbit prediction result, and judges whether the relative distance constraint is met. If the relative distance constraint is met, an impulse maneuver strategy of the active satellite as a decision output is calculated through a game strategy optimization algorithm. Simulation results show that the application can realize long-time distance keeping, and the success rate reaches 98% in a 12-hour maintenance task, which is increased by 308.3% compared with a traditional algorithm.

The invention discloses an event triggering super-torsion compound control system for a high-order direct-current converter, and relates to the technical field of intelligent control of high-order direct-current boost converters, and the event triggering super-torsion compound control system comprises a converter main circuit, a signal acquisition module, a digital controller DSP and a PWM driving module, the system is composed of a general model construction module, a power feed-forward compensation module, a super-torsion sliding mode control module, an event trigger judgment module and a signal synthesis and driving module. In the design of the data automatic controller, a traditional double-closed-loop cascade control architecture is abandoned, and a flattened composite control strategy is adopted: a power feed-forward path based on physical energy conservation is taken as the main force of quick response, so that the undershoot problem of a non-minimum phase system is solved; a sliding mode feedback loop based on a standard hyper-torsion algorithm is used as the core of high-precision adjustment, and steady-state errors and buffeting are eliminated; and an anti-deadlock mixed event triggering mechanism is supplemented, so that consumption of computing resources is reduced, and meanwhile, static error-free tracking is realized.

The application belongs to the field of robot control, and particularly relates to a mobile robot dynamic event triggering control method based on reinforcement learning. In view of the unknown wheel slip effect of the robot and the communication resource constraint problem, a kinematics model and an Euler-Lagrange dynamics model of a four-wheel Mecanum wheel mobile robot are established, the motion deviation caused by four-wheel slip is characterized as non-matching disturbance, the trajectory tracking problem is converted into an extended dimension system adjustment problem constrained by the worst case disturbance by combining the tracking error and the expected trajectory and introducing the steady state control, a dynamic event triggering mechanism is introduced to reduce the calculation burden and transmission load, a Critic reinforcement learning algorithm is designed to solve the Hamilton-Jacobi-Isaacs equation to obtain an approximate optimal controller under the dynamic event triggering condition, and the consistent ultimate bounded stability of the closed loop system is analyzed based on the Lyapunov theory, so that the high-precision trajectory tracking performance of the robot is ensured on the premise of saving communication and calculation resources.

The application relates to a heterogeneous vehicle cooperative control system and method based on a dynamic event triggering mechanism and belongs to the technical field of vehicle cooperative control. The method comprises the following steps: establishing a nonlinear heterogeneous vehicle system dynamics model; calculating a vehicle-to-vehicle tracking distance error, fixed-time funnel control, error conversion and constructing a sliding mode surface; constructing a fixed-time-based auxiliary system to compensate for the nonlinear error of an actuator and the control input error caused by an event trigger; constructing an adaptive law for external and internal disturbances; designing a fixed-time formation controller; designing a dynamic event triggering control mechanism; judging whether an event triggering condition is met, and executing the method flow according to the triggering condition; and judging whether an ending condition is met, and executing the method flow according to the ending condition. The system and method can guarantee the cooperative control performance of heterogeneous vehicles in complex scenes, significantly reduce the communication and calculation costs, and enhance the adaptability and flexibility of the heterogeneous vehicle system.

The invention belongs to the field of intelligent control of mining equipment, and provides a self-adaptive asymptotic tracking control method for an uncertain electro-hydraulic servo system based on event triggering in order to solve the problem that the performance of the electro-hydraulic servo system is poor under complex working conditions. The core of the technical scheme is that unknown parameters and disturbance in the system are uniformly estimated and compensated through a single-parameter adaptive law, and a time-varying integral bounded function is introduced to ensure asymptotic convergence of tracking errors; a nonlinear dynamic surface filter is adopted to simplify the controller structure, and differential explosion is avoided; dynamically updating a control signal in combination with an event trigger mechanism to save communication resources; and an unknown control gain direction problem is processed by using a Nussbaum function. According to the method, nonlinearity and uncertainty of the system are effectively overcome finally, high-precision and high-robustness asymptotic tracking control is realized while network bandwidth and computing resource consumption are remarkably reduced, an accurate mathematical model is not needed, and the method has very high engineering practicability and universality.

The application relates to an event-triggered optimal line-of-sight (LOS) formation control method and system for an underactuated unmanned surface vehicle (USV) under unknown disturbance, and relates to the technical field of USV control. The application aims to solve the technical problem of realizing event-triggered optimal control while considering actuator saturation by establishing an RL-driven LOS guidance scheme, so as to achieve optimal state regulation and tracking control. The technical points are as follows: the application establishes an RL-driven LOS guidance scheme, decouples the trigger decision and the actuator allocation, and introduces a new event-triggered mechanism. The overall structure of the ETO-LOS control scheme proposed by the application is as follows: firstly, the expected trajectory and external disturbance are processed in the LOS guidance layer to generate a virtual control signal. Then, optimal control is realized through a DSC and a two-stage IAC network, and then an event-triggered mechanism is constructed in the actuator layer. The ETO-LOS scheme proposed by the application realizes stable learning and closed-loop performance while significantly reducing the control update frequency.

The invention relates to the technical field of metal rolling linear control, in particular to a linear repetition process sliding mode control method and system based on event triggering. According to the control method, a linear repetitive process model, a cyclic scheduling mechanism, a dynamic event triggering mechanism and a sliding mode control strategy are combined, so that the problem that stability, real-time performance and energy consumption are difficult to consider under the scenes of strong channel coupling, large mismatching disturbance, high communication load, internal and external dual-dimensional dynamic coupling of the channel and the like in a traditional control method is solved; and the stability, the control precision and the communication efficiency of the repeated industrial process in a complex environment are improved.

This invention discloses a memory-based dynamic event triggering control method for a single-link robotic arm system based on spoofing attacks. The method first establishes a Markov model of the single-link robotic arm system based on Markov jump system theory, considering a system model with a general transition rate. Next, a mode-dependent memory controller is designed to overcome the influence of spoofing attacks and external disturbances on the system. A memory-based dynamic event triggering mechanism is also designed to reduce communication transmission frequency. Compared with existing memoryless event triggering schemes, this scheme utilizes a series of recently released signals and introduces a threshold function and an internal dynamic factor, which can automatically adjust according to the triggering error. Finally, vertex separator processing is introduced to address the uncertainty in the Markov transition rate. A mode-dependent state feedback controller is designed to control the stochastic stability of a single-link robotic arm system. When applied to a single-link robotic arm system, this method ensures the normal operation of the system under spoofing attacks and disturbances.

The invention discloses an event-triggered time-varying gain pulse control method of a nonlinear system under DoS attack. The method comprises the following steps: constructing a state space model of a nonlinear system, constructing a pulse event trigger time model based on a Lyapunov function, and constructing a DoS attack model based on the duration and frequency of a DoS attack; based on the state space model, the pulse event trigger time model and the DoS attack model of the nonlinear system, carrying out stability analysis on the nonlinear system, and solving a time-varying feedback gain matrix through a linear matrix inequality; and designing a time-varying gain pulse controller based on the time-varying feedback gain matrix, and performing event-triggered time-varying gain pulse control of the nonlinear system under the DoS attack based on the time-varying gain pulse controller. According to the method, the DoS attack can be resisted, the convergence rate of the nonlinear system can be improved, and the resources of the nonlinear system are saved.

The invention relates to a two-stage event triggering finite time control method for a complex dynamic network, which comprises the following steps of: S1, constructing a system model, constructing a complex dynamic network CDN (Content Delivery Network) consisting of Q mutually coupled nodes, modeling each node, and setting a synchronization target of the complex dynamic network CDN; s2, an event-triggered intermittent traction pulse controller is designed, a novel time-triggered intermittent control strategy is designed, and the starting moment and the ending moment of a control window are determined with the help of a special auxiliary function by means of a two-stage event triggering mechanism; and S3, the complex dynamic network CDN carries out finite time synchronization by utilizing two-stage event trigger time control. According to the invention, a two-stage event triggering mechanism is designed for driving the start and end moments of a control window in intermittent control, and a controller is allowed to realize finite time synchronization in an intermittent operation mode.

The invention discloses a heterogeneous vehicle queue control method based on an event trigger mechanism under undirected topology, and the method comprises the following steps: constructing a heterogeneous vehicle queue system, and describing a cooperative control problem of a heterogeneous vehicle queue composed of leader vehicles and follower vehicles through the heterogeneous vehicle queue system; based on a heterogeneous vehicle queue system, a hierarchical control framework comprising an observation layer and a tracking layer is designed, and cooperative control is performed on a heterogeneous vehicle queue through the hierarchical control framework; according to undirected switching communication topology between vehicles, an event triggering mechanism is introduced into an observation layer of a hierarchical control framework, an event triggering observer is designed, and the state of a leader is estimated; in a tracking layer of the hierarchical control framework, a plurality of local tracking controllers are designed based on an observation state of a leader and a state of a follower, and the state of the leader is tracked; and analyzing the stability of the heterogeneous vehicle queue system, verifying the observation capability of the observer and the tracking capability of the controller, and performing cooperative control on the heterogeneous vehicle queue.

The invention relates to the technical field of cooperative control of a multi-robot system, in particular to a multi-robot distributed optimal tracking method for an event trigger departure strategy RL, which comprises the following steps of: performing layout based on multiple robots, and constructing a kinematics and dynamics model for each robot; correspondingly defining a value function of each robot according to the kinematics and dynamics models to obtain a Bellman equation, and determining an optimal control strategy and a worst disturbance strategy through the Bellman equation; an event triggering mechanism is designed for each robot, a triggering error is defined, and an optimal control strategy and a worst disturbance strategy are combined to construct a triggering condition; constructing an event-triggered departure strategy reinforcement learning algorithm, iterating an optimal control strategy and a worst disturbance strategy, and establishing an event-triggered departure strategy reinforcement learning model; and an evaluation neural network is adopted to solve the event trigger measure reinforcement learning model, and the weight of the evaluation neural network is updated in combination with the trigger event until the optimal network weight is obtained and a stable tracking state is achieved.

The application discloses a heterogeneous vehicle platoon control method based on an event triggering mechanism under a directed topology, and comprises the following steps: constructing a heterogeneous vehicle platoon system, describing a cooperative control problem of a heterogeneous vehicle platoon composed of a leader vehicle and a follower vehicle through the heterogeneous vehicle platoon system; based on the heterogeneous vehicle platoon system, designing a hierarchical control framework comprising an observation layer and a tracking layer, and cooperatively controlling the heterogeneous vehicle platoon through the hierarchical control framework; according to a directed switching communication topology between vehicles, introducing an event triggering mechanism into the observation layer of the hierarchical control framework, designing an event triggered observer, and estimating a leader state; in the tracking layer of the hierarchical control framework, based on the observed state of the leader and the self state of the follower, designing multiple local tracking controllers, and tracking the leader state; analyzing the stability of the heterogeneous vehicle platoon system, verifying the observation ability of the observer and the tracking ability of the controller, and cooperatively controlling the heterogeneous vehicle platoon.

The invention discloses a mechanical arm control method under a Markov jump collaborative competition network, and belongs to the field of mechanical arm control, and the method comprises the following steps: obtaining the dynamic states of a leader mechanical arm and N follower mechanical arms; based on the dynamic states of the leader mechanical arm and the N follower mechanical arms, the random change of a symbol weighted directed graph during communication interaction between the mechanical arms is described by adopting double-layer Markov, and a non-homogeneous Markov jump collaborative competition network model is constructed; based on a non-homogeneous Markov jump collaborative competition network model, introducing a guaranteed-cost event triggering mechanism, and designing a binary synchronous controller based on event triggering; and the dynamic states of the N follower mechanical arms are controlled and adjusted based on the bipartite synchronous controller, so that the dynamic states of the N follower mechanical arms are kept consistent with the dynamic state of the leading mechanical arm. According to the invention, a bipartite synchronization target of the system is realized by designing a guaranteed-cost-based event trigger controller, and the dissipation performance of the system on external disturbance is ensured.

This invention relates to an event-triggered system regulation and control method in a network control system. This method ensures the safe operation of the network control system even when it is subjected to a DoS attack, achieving actual trajectory tracking and disturbance suppression. Specifically, this invention ensures that the network control system can achieve actual trajectory tracking and disturbance suppression even under DoS attacks; that is, the system's tracking error can be arbitrarily reduced by adjusting the event triggering mechanism parameters. This invention has excellent practicality and accuracy and can be applied to various practical network control systems, such as vehicle networking control systems and networked motor control systems.

The invention belongs to the technical field of quad-rotor unmanned aerial vehicle control, and provides a quad-rotor unmanned aerial vehicle robust trajectory tracking control method based on an event triggering mechanism and an interference observer, the method has good tracking performance and anti-interference capability, the calculation requirement is small, and the problem of quad-rotor unmanned aerial vehicle robust control can be solved. The invention discloses an unmanned aerial vehicle robust trajectory tracking control method based on event triggering and disturbance observation, and the method comprises the following steps: 1, building a strong coupling and nonlinear model of a four-rotor unmanned aerial vehicle; a second part, designing a quadrotor unmanned aerial vehicle trajectory tracking controller based on model prediction control: constructing a target function based on a position tracking error, and designing a robust model prediction controller based on a fixed time disturbance observer on the basis; and a third part, designing an event triggering condition, and executing optimization solution of model prediction control only when the condition is met. The four-rotor unmanned aerial vehicle is mainly applied to design and manufacturing occasions of four-rotor unmanned aerial vehicles.

The application discloses a kind of event trigger control-based heterogeneous multi-agent system consistency control method, the heterogeneous multi-agent system contains m first-order multi-agent, N-m second-order multi-agent, communication is carried out through weighted undirected network;First, according to the convergence of the heterogeneous multi-agent system to consistency, the position of agent converges to the average value of position, and the speed converges to 0, define the average value of position convergence;Then the consistency problem of the heterogeneous multi-agent system is converted into a stability problem, and the consistency control of the heterogeneous multi-agent system is realized by piecewise control input rate and event trigger control.The application combines the event trigger control of combined measurement method, inherits the consistency of first-order second-order heterogeneous multi-agent system, reduces the loss of communication resources.The condition of matrix Q is that its minimum singular value is greater than 0, to reduce the conservativeness of event trigger condition.

The invention belongs to the technical field of control methods, particularly relates to a dung beetle optimization electromagnetic drive micromirror control method based on event triggering, and provides a double-closed-loop control strategy of model prediction and sliding mode control based on event triggering and intelligent optimization in order to improve the performance of an electromagnetic drive MEMS micromirror system. An improved dung beetle optimization algorithm is used for optimizing parameters of the controller, the optimization calculation frequency of the controller is predicted through an event trigger mechanism dynamic control model, the online calculation amount is reduced, and optimization parameters of the controller need to be selected depending on experience, so that the time consumption is large, and the efficiency is high. The precision and stability of the obtained controller cannot meet the requirements sometimes, a better controller can be obtained more quickly by optimizing parameters through an algorithm, and the provided composite controller not only improves the control precision, but also reduces the response time, so that the micromirror can point to the target position more quickly and more accurately.

The application relates to a multi-vehicle system event-triggered preset time two-division platoon control method. A preset time controller is constructed by introducing a time-varying function, so that two-division time-varying platoon tracking can be realized at a preset time. Meanwhile, an event-triggered controller is established based on a designed continuous event controller and an event-triggered function, communication resources are effectively saved, and the stability of a vehicle platoon system is ensured.

The invention discloses a double-arm hierarchical motion control method based on encoder feedback and CAN bus cooperation, and the method comprises the steps: receiving target Cartesian coordinates (X, Y, Z) through a middle control panel, and solving a first target angle corresponding to a large arm based on an inverse kinematics model; the middle control panel sends a big arm rotation instruction to the first lower control panel through the CAN bus to drive the big arm to move; the first lower control panel collects a first actual angle of the position encoder in real time in the motion execution process, and sends a feedback data packet containing a timestamp to the middle control panel through the CAN bus in an event triggering mode; the middle control panel dynamically plans a motion instruction of the small arm according to the actual position of the large arm and sends the motion instruction to the second lower control panel; the method specifically comprises the steps that communication time delay compensation and motion state prediction are carried out based on the received first actual angle and the timestamp, the predicted angle of the large arm at the execution moment of the second lower control panel is obtained, and the second target angle of the small arm is inversely solved with the predicted angle as the reference.

The invention relates to the technical field of optimal control and intelligent control, in particular to a control method and device of an oil-water separation system based on event triggering. The method comprises the following steps: establishing an oil-water separation system mathematical model based on defined input saturation constraints, then converting a robust trajectory tracking control problem into a binary zero-sum game problem, defining a Hamilton function and a Bellman equation, and solving to obtain an optimal control gain and an optimal control strategy; based on a preset compensation controller and the optimal control strategy, an event triggering condition is defined, and an event triggering control strategy with input saturation constraints is obtained; and inputting the event trigger control strategy into the oil-water separation system through the zero-order holder for state updating, and obtaining the optimal event trigger control strategy in the current state according to the optimal control gain and the event trigger condition. The problems that in the prior art, after oil-water separation, the oil content of discharged water does not reach the standard, and an existing control mode does not meet the standard can be solved.