23 results about "Event triggered" patented technology

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 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 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.

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 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.

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 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.

This invention discloses a finite-time dynamic compensation control system for multi-mobile robot formation based on event triggering, belonging to the field of mobile robot control technology. The system integrates a finite-time event triggering module, a distributed observer, a controller, and a dynamic compensator. By constructing a finite-time constraint function and combining it with a dynamic threshold triggering mechanism designed for formation errors, communication overhead is reduced. The distributed observer utilizes local and neighbor signals to achieve finite-time estimation of the desired trajectory. The dynamic compensator handles input saturation and delay, and the controller optimizes control torque through full-drive model transformation, error definition, and adaptive strategies. The system requires no global communication, achieves stable formation within a finite time, improves communication efficiency, tracking accuracy, and anti-interference capability, and is suitable for complex collaborative scenarios such as industrial inspection and logistics transportation.

This invention discloses a fault-tolerant control method based on an event-triggered intermediate observer, belonging to the field of motor technology. In terms of system modeling, to study the stochasticity and robustness of the motor system, a Markov jump system model is used to describe its state-space model affected by actuator faults and disturbances. Regarding transmission strategy, to save network resources and alleviate bandwidth pressure, an adaptive event-triggered mechanism is adopted. Based on this mechanism, an event-triggered intermediate observer is designed. This alleviates the signal transmission and communication burden of the motor system while obtaining estimates of the motor system's state, disturbances, and actuator faults. Then, these estimates are used to construct a composite controller to stabilize the motor system's state, making the motor system robust to actuator faults and disturbances.

The application relates to a multi-agent system preset performance consistency control method and device. The method comprises the following steps: constructing a nonlinear multi-agent system model comprising a follower agent and a leader agent; combining a preset performance constraint function to construct an equivalent conversion system model; constructing an event-triggered control protocol comprising a distributed sampling event-triggered controller and a dynamic event-triggered function; based on the equivalent conversion system model and the event-triggered control protocol, constructing a multi-agent system simultaneous closed loop model and performing stability analysis to obtain sufficient conditions for the multi-agent system to realize preset performance consistency control under external disturbance and nonlinear influence; and according to the sufficient conditions, solving the control gain parameters of the distributed sampling event-triggered controller. The method can ensure the anti-interference performance of the system, significantly reduce the update frequency of the controller, improve the transient and steady-state performance of the system, and is suitable for distributed scenes with limited communication resources.

This invention relates to the field of circuit breaker monitoring and provides a method for monitoring the operating status of circuit breakers, comprising: collecting circuit operating status parameters of the corresponding circuit of the target circuit breaker and simultaneously collecting current data of the control circuit at the same station; constructing a control benchmark at the same station using the control circuit; calculating the current change intensity of the target circuit and the control circuit respectively, calculating relative anomaly indicators, segmenting the operating data into event segments according to event triggering conditions, extracting event feature information, and generating event fingerprint vectors; constructing a normal event library, calculating the maximum similarity between the new event fingerprint and the normal event library, and calculating the risk value by combining the maximum similarity, relative anomaly indicators, and evidence of abnormal temperature rise; determining the anomaly category according to combination rules, and outputting the equipment location information, event time, and location information of evidence indicators; reporting the event fingerprint and risk value summary when the network is restricted, and reporting the event window data and summary when the network is good.

The application discloses an event-triggered multi-robot arm system random pre-defined time control method, belongs to the technical field of control, and is used for time control of a multi-robot arm system. The method comprises a dynamic equation of the multi-robot arm system, introduces a trajectory error tracking system, and obtains consensus error of the multi-robot arm system. Unknown functions in the dynamic equation of the multi-robot arm system are estimated, a virtual control signal, an adaptive rate and an event-triggered mechanism are designed according to an adaptive backstepping method, and stability analysis is performed in combination with Lyapunov stability theory. The application simultaneously adopts the event-triggered mechanism, reduces the update frequency of the controller, and in combination with experiments, the consensus error of the multi-robot arm system can converge into a small neighborhood within a pre-defined time of 1s.

This invention discloses an event-triggered super-torsional composite control system for high-order DC-DC converters, relating to the field of intelligent control technology for high-order DC-DC boost converters. It includes a converter main circuit, a signal acquisition module, a digital controller (DSP), and a PWM drive module. The DSP comprises a general model building module, a power feedforward compensation module, a super-torsional sliding mode control module, an event triggering discrimination module, and a signal synthesis and drive module. In the design of the data controller, this invention abandons the traditional dual-closed-loop cascaded control architecture and adopts a flattened composite control strategy: using a power feedforward path based on physical energy conservation as the main force for fast response to overcome the undershoot problem of non-minimum phase systems; using a sliding mode feedback loop based on the standard super-torsional algorithm as the core of high-precision adjustment to eliminate steady-state errors and chattering; and supplemented by a hybrid event triggering mechanism to resist deadlock, achieving zero steady-state error tracking while reducing computational resource consumption.

The present disclosure relates to the technical field of power control, and provides a micro-grid finite time control method and device with an event triggering mechanism, comprising: establishing a micro-grid system model containing multiple distributed power sources; for each distributed power source, determining the frequency tracking error and state estimation error corresponding thereto based on its real-time frequency state data; and determining whether the event triggering condition is met according to the frequency tracking error and state estimation error; in response to any distributed power source meeting the event triggering condition, generating the finite time cooperative control law of each distributed power source based on the control update data of each distributed power source received when the event triggering condition is met, and generating the control instruction corresponding thereto according to the control instruction, and performing finite time frequency recovery control on the distributed power source based on the control instruction. The present embodiment effectively improves the dynamic performance and operation robustness of the power system by introducing the event triggering mechanism and designing the finite time cooperative control law.

This invention provides a finite-time control method for a pulse-switched positive system based on an event-triggered mechanism. The method includes constructing a pulse-switched positive system with nonlinear and disturbance terms, applying sector constraints to the nonlinear terms and boundedness constraints to the disturbance terms; defining the switching signal in the pulse-switched positive system based on the average dwell time; defining the event-triggered error of the pulse-switched positive system to design the event-triggered mechanism and event-triggered controller; solving for the construction parameters given linear matrix inequalities and reconstructing the switching signal and event-triggered controller; and using the reconstructed switching signal and event-triggered controller to perform closed-loop control of the pulse-switched positive system to achieve finite-time bounded control. Implementing this invention solves the problems of overly complex event control mechanisms and performance degradation caused by the combined effects of pulses and external environmental disturbances.

The application provides a ship energy storage microgrid timing event trigger control method, a terminal and a storage medium, and relates to the technical field of power system control. The method comprises the following steps: constructing a system architecture model of a to-be-regulated ship direct-current energy storage microgrid, and constructing an adaptive virtual droop resistance in the system architecture model; at an event trigger time point meeting a trigger condition, calculating a state of charge estimation mean value of each distributed energy storage unit respectively, and using the state of charge estimation mean value of each distributed energy storage unit to dynamically update the adaptive virtual droop resistance corresponding to each distributed energy storage unit within a preset fixed time; and inputting the updated adaptive virtual droop resistance of each distributed energy storage unit into the system architecture model, so as to realize balanced regulation and control of the state of charge of each distributed energy storage power supply in the to-be-regulated ship direct-current energy storage microgrid. The application can realize balanced regulation and control of the state of charge of each distributed energy storage power supply, improve energy utilization efficiency, and reduce the operating cost of the ship.

This invention discloses a design method and system for an event-triggered controller based on a Markov model, belonging to the field of controller design technology. The method includes the following steps: establishing a hidden Markov model, including system state, control input, output, external disturbances, and time-varying state delay; designing event triggering conditions based on the hidden Markov model to dynamically trigger state information transmission; designing an asynchronous controller to generate control input based on the state information transmitted under the asynchronous event triggering conditions and handling actuator saturation nonlinearity; and analyzing the stochastic stability and H0 of the closed-loop system using Lyapunov functions and linear matrix inequalities. ∞ Performance; a matrix augmentation method is used to separate the product of the controller gain matrix and the Lyapunov variables, obtaining a result that simultaneously ensures the stochastic stability of the system and satisfies H ∞ The performance metrics are consistent with the gain matrix of all asynchronous and event-triggered controllers. The event-triggered controller designed in this invention can guarantee H... ∞ While ensuring anti-interference capabilities, the number of communication triggers is minimized to achieve on-demand control.

The application discloses a morphology and trajectory cooperative control method of a magnetic micro-robot cluster, and belongs to the technical field of micro-nano robots. Step 1: a state space evolution model of the centroid and morphology of the micro-robot cluster is constructed; step 2: based on the model of step 1, a space-time flow field disturbance observer fusing multi-physical field priori is designed; step 3: based on the disturbance compensation of step 2, a centroid and morphology cooperative controller based on an event triggering mechanism is designed; and step 4: based on the cooperative controller of step 3, the morphology and trajectory cooperative control of the magnetic micro-robot cluster is realized. The application aims at the problems of model mismatch, observation lag and easy overload and heating of an executing mechanism in the existing magnetic micro-robot cluster control system.

The application provides a nonlinear truck trailer system fuzzy control method in a networked environment, comprising: modeling a nonlinear truck trailer system as a piecewise T-S fuzzy model, and designing a piecewise fuzzy state feedback controller with state adaptive saturation, and giving a controller design condition; designing a new piecewise event triggering mechanism, wherein an event triggering rule follows different space region information of state variables of the system model, and researching an event triggering fuzzy control scheme; the application gives a new event triggering control scheme, which can guarantee system stability in the case that the system is affected by outliers, and overcomes the problem that the event triggering mechanism and the controller need to be designed coordinately in the prior application; finally, the effectiveness of the technical method of the application is verified through an actual truck trailer system.