40 results about "Feedback linearization" patented technology

The invention discloses an attitude control method and system for a reentry flight process of a hypersonic aircraft and a medium, and belongs to the field of aircraft control, and the method comprises the steps: S1, building an aircraft attitude dynamic model; s2, based on the aircraft attitude dynamic model constructed in S1, decoupling the aircraft attitude dynamic model through a feedback linearization method to obtain an aircraft three-channel attitude control model; s3, designing a nonlinear active-disturbance-rejection controller based on the aircraft three-channel attitude control model obtained in S2, and determining to-be-set parameters in a nonlinear extended state observer and a nonlinear state error feedback control law in the nonlinear active-disturbance-rejection controller; and S4, on the basis of the aircraft three-channel attitude control model obtained in the S2 and the nonlinear active-disturbance-rejection controller obtained in the S3, optimizing to-be-set parameters in the nonlinear active-disturbance-rejection controller by adopting a double-delay depth deterministic strategy gradient algorithm, and finally realizing adaptive adjustment control.

The invention discloses a distributed electric vehicle motion planning method and system considering surrounding vehicle interactive perception, and relates to the technical field of electric vehicle motion planning. The method comprises the following steps: constructing a distributed electrically-driven automobile nonlinear dynamic model, and designing a motion tracking controller by adopting a feedback linearization method; based on the constructed vehicle closed-loop dynamics system, a regional polyhedron approximation method is adopted to carry out modeling and characterization on a safety forward reachable set of the vehicle; and in combination with a probability distribution model of interaction behaviors of surrounding vehicles, introducing a conditional value-at-risk constraint mechanism, converting an automobile motion planning problem into a trajectory optimization problem, and solving and outputting a final motion planning trajectory. According to the method, the advantage that four wheels of a distributed electric drive automobile are independent and controllable is fully utilized, the control freedom degree of the method is remarkably improved compared with centralized drive, a conditional value-at-risk constraint mechanism is introduced to be combined with a surrounding automobile interaction behavior probability distribution model, and safety and agility balance in an uncertain environment is guaranteed.

The invention provides a multi-agent collaborative surrounding tracking method and system for a dynamic target. The method comprises the steps that S1, the number of surrounding agents, the expected surrounding radius, the expected angular spacing, the expected relative surrounding speed and the communication topology between the agents are determined according to the surrounding requirement; s2, designing a distributed fixed time observer based on a communication topological relation to realize estimation of a target state; s3, acquiring an azimuth angle between the surrounding agent and the target, and constructing a radial unit vector, a tangent vector and an angular spacing coordination error pointing to the target; constructing an estimated azimuth angle change rate, an estimated relative speed, an estimated relative distance and an estimated relative speed tangential component; constructing a radial acceleration control item, a tangential acceleration control item and a dynamic target tracking item; and S4, according to the current linear velocity and course angle of the intelligent agent, calculating linear acceleration and angular velocity in a feedback linearization mode, and realizing multi-layer adjustable angular spacing circular surrounding tracking of the multi-intelligent-agent dynamic target.

The invention relates to an AC / DC power distribution network coupling node state linearization reconstruction control method and device. The method comprises the following steps: step 1, constructing a dynamic equation under a rotating coordinate system; step 2, linear decoupling of nonlinear AC / DC coupling nodes is realized, and a new energy state is selected based on a port Hamiltonian theory; 3, the unknown uncertainty of the system in the rotating coordinate system is represented in a lumped mode; 4, duty ratio related items in the polynomial obtained through derivation are selected as control input, and other items obtained through derivation are lumped into another unknown uncertainty disturbance lumped item; step 5, constructing a linearized standard state space model; step 6, determining a control reference state; and 7, designing a corresponding control law, and further completing feedback linearization-based AC / DC power distribution network coupling node state reconstruction control. The transient regulation time is shortened by more than 90%, the total harmonic distortion rate of the voltage is reduced by more than half, and the dynamic performance and the electric energy quality of the system are remarkably improved.

The invention discloses an online parameter identification and hysteresis compensation method for a piezoelectric positioning platform. The method comprises the following steps: S1, signal acquisition: acquiring an input signal u (t) and an output signal y (t); s2, filtering processing: constructing a filtering variable and a regression vector phi (t) by using a filtering technology; s3, auxiliary variable calculation: solving an auxiliary regression matrix M (t), a vector N (t) and a vector R (t); s4, estimation error information extraction: constructing a parameter approximate estimation error vector E (t); s5, parameter estimation updating: updating an estimation vector according to a parameter estimation adaptive law based on a preset time-space obstacle function; and S6, hysteresis compensation: realizing hysteresis compensation based on a feedback linearization strategy. According to the method, the asymmetric dynamic hysteresis nonlinear model for accurately describing the piezoelectric positioning platform can be established, online parameter identification and real-time hysteresis compensation are realized for parameter perturbation possibly generated by a system under an uncertain working condition, and the positioning precision of the piezoelectric positioning platform in the ultra-precision positioning field is effectively improved.

The invention relates to a power distribution network distributed energy storage regulation and control method and system for multi-microgrid access. The method comprises the following steps: firstly, constructing a Lie derivative affine model of the distributed energy storage system, and constructing a first representation of an ith node energy storage system virtual input variable according to the Lie derivative affine model; designing a communication network Laplacian matrix, solving an output voltage regulating variable of the ith node based on the Laplacian matrix, further obtaining an output voltage and filter inductive current expected track, and constructing a second representation of a virtual input variable; designing a feedback linearization control law in combination with the two representations, updating the energy storage charge state consistency error of the ith node in real time based on a Laplacian matrix, adaptively adjusting the control law by using the error, and finally completing the distributed energy storage regulation and control of the power distribution network by using the adjusted control law. Compared with the prior art, the method has the advantages that the state variable expected trajectory of the energy storage system of each node is accurately solved, and high-performance cooperative stable control of the distributed energy storage system is realized.

This invention provides a control method for a lower limb exoskeleton rehabilitation robot based on the sliding mode optimization method, belonging to the field of medical rehabilitation robot control technology. The method includes: establishing a two-degree-of-freedom dynamic model of the lower limb exoskeleton rehabilitation robot, and transforming it into a linear state-space model using feedback linearization technology; designing a linear quadratic regulator (LQR) for the linearized model to obtain the optimal feedback gain matrix; constructing an integral sliding surface containing the optimal feedback gain matrix, so that the equivalent control law of the system in the sliding mode possesses the globally optimal dynamic performance of the LQR; and based on adaptive preset time theory, constructing a sliding mode reaching law and an adaptive gain update law containing novel nonlinear functions to generate the final control torque.

This invention discloses a navigation control method within a corridor that ensures the closest distance between the hull outline and the boundary. The method is characterized by using a closed-loop structure of "geometry-reference-constraint-execution" to achieve the coordination of path tracking and safety constraints. This invention comprehensively utilizes techniques such as Control Barrier Function (CBF) constraints, bow reference continuity / rate limiting, and torque-rate constrained optimization. It proposes a safety constraint construction based on the contact point set CBF, an I-LOS+rate limiting continuity tracker to suppress bow jitter, and pre-aiming curvature and boundary centering correction to improve robustness within corridors. Furthermore, it combines disturbance observation and feedback linearization with a one-dimensional QP analytical projection solution to achieve coordinated optimization of torque and its rate of change. This enables safe verification of the nearest distance not less than a threshold and coordinated satisfaction of path tracking error and actuator constraints in narrow corridor scenarios such as inland waterways, port channels, and lock chambers / docks. It improves disturbance resistance, smoothness, and real-time engineering feasibility, and is applicable to unmanned surface vessels (USVs / ASVs) and manned vessels in corridor scenarios such as inland waterways, ports and basins, and lock chambers / docks for autonomous driving, berthing and unberthing, convoy navigation, and precision maneuvering.

The invention relates to an impact load-oriented electro-hydraulic servo active suspension feedback linearization sliding mode robust control method, which belongs to the technical field of vehicle active suspension and electro-hydraulic servo control, and comprises the following steps of: firstly, establishing a quarter vehicle two-degree-of-freedom active suspension model; the method comprises the following steps: step 2, constructing a nonlinear dynamic model of the electro-hydraulic servo actuator of the valve-controlled cylinder; step 3, designing a feedback linearization sliding mode composite controller and giving a stability proof; and step 4, carrying out controller parameter setting and simulation comparison. According to the feedback linearization sliding mode robust control method provided by the invention, the nonlinearity and parameter uncertainty of the actuator can be effectively compensated under the impact working conditions of a deceleration strip and the like, the piston displacement tracking error and sliding mode buffeting are remarkably reduced, sprung mass vibration is reduced, the vehicle driving smoothness and attitude stability are improved, and the method is suitable for large-scale popularization and application. The method is suitable for the field of vehicle hydraulic active suspension control.

The invention relates to the technical field of motor control, and discloses a wireless ultrasonic motor closed-loop driving control method and a computer readable storage medium, and the method comprises the steps: taking the frequency and / or amplitude of a driving voltage as a source end input, taking the rotating speed of a motor as an output, constructing a global nonlinear mathematical model, carrying out the parameter identification and optimization, and obtaining a target identification model; representing a nonlinear part in the target identification model as a virtual control quantity for feedback linearization to obtain a linearized model; and designing a generalized PID controller by using a pole assignment method, solving to obtain a target virtual control quantity, and reversely deducing source end input in a linearization model to realize closed-loop control of the wireless ultrasonic motor. According to the method, a nonlinear process from input to output is accurately described by separating static nonlinearity and dynamic linearity, a virtual control quantity is introduced to offset a nonlinear term, a nonlinear system is converted into a linear system, poles of a closed-loop system are directly configured at ideal positions through pole configuration, and accurate adjustment of dynamic characteristics of the system is realized.

The application relates to the technical field of space robots, in particular to a circular shaft type arm rod torsional vibration suppression method applying a control moment gyro, which comprises a circular shaft type arm rod torsional vibration suppression mechanism and a dynamic model thereof, expected output torque of the control moment gyro obtained through feedback linearization and angular velocity of a frame angle of the control moment gyro tracked through a PID control law; the circular shaft type arm rod torsional vibration suppression mechanism comprises the control moment gyro and the circular shaft type arm rod.

The application relates to the technical field of continuum robot control, and provides a continuum robot control system and method based on fractional order equivalent input disturbance estimation. The system comprises a feedback linearization module, which is used for acquiring a dynamic model of the continuum robot and performing linearization processing on the dynamic model; a fractional order equivalent input disturbance estimator, which is used for acquiring a linearized control input, evaluating and inhibiting the influence of external disturbance on the continuum robot according to the linearized control input; and a fractional order feedback controller, which is used for generating a control input of the linearized dynamic model, can perform linearization processing on the dynamic model of the continuum robot, and greatly improves the controllability of a complex system by decoupling and simplifying the design of a control system. The introduction of the fractional order feedback controller enables the system to have more flexible response characteristics in the frequency domain, and can effectively improve the dynamic performance and control precision of the system.

The invention discloses a piezoelectric ceramic driver control method based on a multi-grid method, and belongs to the technical field of precise driving control. Aiming at the problems of low positioning precision caused by inherent nonlinear characteristics of hysteresis, creep and the like of a piezoelectric ceramic driver, many parameters of a traditional complex model and large calculation amount, the method comprises the following steps: firstly, establishing an electromechanical coupling nonlinear power system model, and accurately converting an original system into a linear system through a feedback linearization technology; then constructing an optimal control problem, deducing a regular equation set by using a Pontryagin minimum principle, and performing time discretization by using an implicit Euler format to ensure numerical stability; and finally, introducing a multi-grid algorithm to efficiently solve the large-scale discrete system. According to the method, the calculation complexity is remarkably reduced while the model precision is reserved, the convergence speed is increased by more than 8 times compared with a traditional iteration method, the robustness to parameter changes is high, a precondition device does not need to be adjusted, the positioning error can be controlled within the range, and the method is suitable for the high-end manufacturing fields such as precise positioning and optical focusing.

The application discloses a kind of four-rotor hanging transport control methods based on double time-varying interference estimator, comprising the following steps: S1, the dynamics model of four-rotor unmanned aerial vehicle and hanging load is established;S2, the model is simplified using feedback linearization technique, and the nonlinear coupling system is decoupled into two subsystems of anti-swing and trajectory tracking;S3, according to the swing model of the goods being hung, time-varying uncertainty and interference estimator are constructed in the anti-swing controller, and time-varying interference is dynamically aggregated to eliminate the swing of heavy object;S4, according to the kinematics model of four-rotor, time-varying uncertainty and interference estimator are constructed in the trajectory tracking controller, to realize the accurate trajectory tracking of four-rotor unmanned aerial vehicle;S5, the stability of estimation error system is proved using linear time-varying system theory, and the interference estimation performance is optimized by adjusting auxiliary parameter;S6, the stability of anti-swing subsystem and trajectory tracking subsystem is proved, and the interference estimation performance is optimized by adjusting auxiliary parameter.

The invention discloses a Mars entry guidance method and system under a segmented prediction-correction architecture. The method comprises the steps that a reference trajectory is planned in advance according to the predicted entry position of an aircraft and a target parachute landing deployment point, and a plurality of segmented target points are selected on the reference trajectory to form a plurality of guidance segments; in each guidance subsection, calculating the distance margin from the current subsection to the target point of the next subsection based on the current flight state parameters, and adopting a prediction model integral motion equation to obtain a prediction distance under the current roll angle strategy; comparing the deviation between the predicted distance and the target distance, correcting the roll angle amplitude based on a secant iteration method, and outputting an updated roll angle amplitude instruction; and when the aircraft enters the tail section, inputting the roll angle command into a course alignment guidance law, and calculating a final roll angle control instruction by using a feedback linearization method. According to the invention, the technical problem of poor Mars entry guidance control precision is solved.

The invention relates to an autonomous underwater vehicle (AUV) trajectory tracking compound control method based on fractional order sliding mode control and an extended state observer. The method is used for high-precision trajectory tracking of an AUV in a complex and uncertain environment. The method comprises the following steps: establishing an AUV six-degree-of-freedom dynamic model; converting the nonlinear model into a linear form through feedback linearization; designing an extended state observer to perform real-time estimation and compensation on lumped disturbance including model uncertainty and external disturbance; designing a fractional order sliding mode controller to improve the tracking precision and suppress buffeting; a Levant differentiator is introduced to provide an accurate differential signal for the control law; and constructing a composite control law and completing the stability analysis of the closed-loop system. Compared with traditional control, the method can improve the dynamic response speed of trajectory tracking, has higher interference suppression capability and robustness, and is suitable for detection and operation scenes of the autonomous underwater vehicle with various uncertain factors such as hydrodynamic coupling, parameter perturbation and external interference.

The invention discloses an underwater robot mechanical arm control method and system for a nuclear environment and a medium. The method comprises the steps that a kinetic model of a rope-driven mechanical arm is established; feedback linearization control of nonlinear coupling terms is carried out on the kinetic model of the rope-driven mechanical arm; the feedback linearization control comprises the steps that an inverse dynamic model of the rope-driven mechanical arm is established, and linear compensation is conducted on the mapping relation between the tension of the rope and the pose of an end effector of the rope-driven mechanical arm through the inverse dynamic model, so that a nonlinear coupling item is converted into a linear decoupling item; and based on a result of feedback linearization control, through a composite compensation strategy of robust control and adaptive control, offsetting the uncertainty of the dynamic model of the rope-driven mechanical arm, and realizing the control of the rope-driven mechanical arm based on the expected trajectory. According to the method, the problem of uncertainty of a dynamic model of the mechanical arm can be eliminated.

This invention provides a method, system, and medium for controlling the anode and cathode gas pressures of a hydrogen-oxygen fuel cell. The control method first establishes a nonlinear dynamic model of the hydrogen-oxygen fuel cell with parameter uncertainties, and then cyclically executes coordinated control of the anode and cathode pressures. In each control cycle, the anode and cathode inlet pressures are first collected using pressure sensors. Then, first and second sliding mode variables are defined, and their second-order dynamic equations are derived and their derivatives calculated based on the model. A second-order sliding mode controller is used to calculate virtual control quantities based on the sliding mode variables and their derivatives. Feedback linearization is used to convert the virtual control quantities into the rate of change of the actual control quantities. After integration, the opening degrees of the anode and cathode proportional valves are obtained and output to adjust the gas inlet pressures until the system stops operating. This method overcomes the shortcomings of existing hydrogen-oxygen fuel cell anode and cathode pressure control methods in terms of insufficient robustness to parameter uncertainties and load disturbances, demonstrating significant advantages.

The invention discloses a photovoltaic greenhouse winter environment control method based on variable universe fuzzy sliding mode control, and belongs to the technical field of agricultural environment control. The invention aims to solve the problems of greenhouse temperature and humidity coupling interference in winter, difficult control cooperation, weak anti-interference capability of a traditional controller and the like. The method comprises the following steps: establishing a greenhouse temperature and humidity balance model in winter and daytime, including a temperature balance equation reflecting heat change and a humidity balance equation reflecting water vapor mass change; performing feedback linear decoupling on the model to obtain independent temperature and humidity control channels; designing a variable universe fuzzy sliding mode controller, and realizing cooperative control of heating and humidifying equipment by constructing an integral sliding mode surface and a fuzzy rule table and introducing a nonlinear telescopic factor to dynamically adjust the universe; and constructing a Lyapunov function to verify the stability of the system. According to the invention, the control precision and the anti-interference capability are effectively improved, and a suitable crop growth environment in the greenhouse can be stably maintained.

The invention provides a bidirectional half-bridge converter switching composite control method and system based on a non-smooth super-spiral sliding mode, and belongs to the technical field of power electronic converter control. The control method comprises the following steps: respectively establishing nonlinear dynamic models for a Boost mode and a Buck mode, and adopting an accurate feedback linearization technology for the Boost mode to solve a non-minimum phase problem; designing a nonlinear extended state observer, and estimating matching and non-matching lumped disturbance in real time; based on the disturbance estimation value, designing a non-smooth super-spiral sliding mode controller for the two modes respectively, and ensuring finite time convergence; and a smooth switching controller of a bidirectional operation mode is constructed, and seamless switching between a Boost mode and a Buck mode is realized. Under the control method, the bidirectional half-bridge converter is high in anti-interference performance, high in dynamic response speed and capable of effectively restraining buffeting.

This invention discloses a generalized second-order finite-time PID control method and control system, applicable to state tracking and disturbance suppression of single-input single-output nonlinear systems, belonging to the field of automatic control technology. This invention transforms the nonlinear system into a linear form through feedback linearization and designs a nonlinear homogeneous PID control law, utilizing power exponents to achieve finite-time convergence of the system state. The method achieves feedback linearization through differential homeomorphism mapping, introduces power exponents to enhance convergence speed, and verifies stability using Lyapunov functions. Compared to traditional PID control, this method effectively suppresses constant disturbances and sinusoidal disturbances, resulting in smaller output errors, and is suitable for high-precision scenarios such as electrical equipment control.

The invention belongs to the technical field of UUV formation control, and particularly relates to a UUV formation control method based on a GRU network in a communication delay environment, a program, equipment and a storage medium. According to the method, a five-degree-of-freedom nonlinear dynamic model based on the UUV is linearized through a feedback linearization technology, the uncertainty influence in the model is counteracted by using an RBF neural network for the uncertainty in the dynamic model, and a mathematical basis is provided for subsequent controller design. According to the method, a typical ocean current interference model is constructed, an external disturbance item is introduced to simulate environmental disturbance in a real ocean environment, a UUV formation controller based on a navigation following method is designed in an ideal communication environment, and a formation prediction model of a navigator is constructed by using a GRU network for a communication delay scene, so that the formation prediction of the navigator is realized. By mining potential features in historical time sequence data, it is ensured that instructions still keep time sequence consistency under the condition of communication delay, and the adaptive capacity of a system to communication uncertainty is effectively improved.

The application discloses a dynamic feedback linearization control method for a variable-pitch actuator of a large wind turbine, and belongs to the technical field of wind turbine control. The variable-pitch actuator is mainly composed of a variable-pitch motor and a driver thereof, a variable-pitch actuator controller and an encoder. * The given mechanical angle of the rotor of the variable-pitch motor is calculated, the given electromagnetic torque of the variable-pitch motor is calculated by using the dynamic feedback linearization method and is sent to the variable-pitch motor driver, the variable-pitch motor is controlled to work by the variable-pitch motor driver, and the variable-pitch control of the wind turbine is realized. Based on the above method, the adaptability of the variable-pitch control system of the wind turbine to different wind conditions and the suppression ability of the variable-pitch control system to external disturbances can be improved.

The application discloses a kind of robust model prediction control methods for mechanical arm trajectory tracking control, it is related to the field of multi-degree-of-freedom mechanical arm trajectory tracking control.The method transforms the disturbance and parameter perturbation of mechanical arm system into lumped disturbance, establishes the error model of mechanical arm system, and carries out feedback linearization to error system based on inverse dynamics method;Based on the error model of mechanical arm system, design the nominal system model predictive controller, design the terminal region, terminal control law and the corresponding terminal cost, ensure the feasibility of rolling interval optimization at each time step.The method of the application can handle the uncertainty and disturbance of mechanical arm system, and ensure the satisfaction of system constraints, realize high-precision trajectory tracking control and input torque optimization.

The application discloses a motion control system for a near space antenna unmanned aerial vehicle, comprising a duct attitude adjustment system, a laser anemometer system and a Beidou satellite navigation system. The laser anemometer system monitors the wind speed and direction in the wind field and transmits the interference signals in real time; the Beidou satellite navigation system positions the antenna unmanned aerial vehicle in real time and transmits the position information; the duct attitude adjustment system comprises a sensor module, a controller module and a propulsion device, and adjusts the attitude of the propulsion device according to the interference signals and the position information. The propulsion device comprises eight duct propellers based on 3-RPS parallel structures and arranged in a cross shape, the design of the duct makes the airflow more stable and efficient, which helps to improve the propulsion efficiency and reduce the noise. The controller module adopts a strategy combining feedback linearization and terminal sliding mode control to generate control signals. The application realizes high-precision fixed-point hovering control of the antenna unmanned aerial vehicle in the complex wind field environment of the near space.

The application provides a kind of mobile robot navigation control method and system, comprising: based on the prior information of identification target gray image acquired in advance, real-time gray image and depth image are obtained by ToF camera, positioning is carried out in combination with the prior information of identification target, and the navigation target point pose is determined in combination with the requirement of specific task, to realize the navigation control of mobile robot.The system designed by the application includes depth progressive positioning algorithm based on the characteristics of ToF depth information to obtain the pose of mobile robot, high-order Bezier curve algorithm with attitude constraint to plan global path in real time, feedback linearization control algorithm with error compensation to carry out trajectory tracking control in combination with obstacle detection module.The application makes full use of the characteristics of image and depth information of ToF camera to realize the navigation control of mobile robot.The system structure of the application is simple, and the real-time control and accuracy are high.

The invention discloses a permanent magnet synchronous motor weight adaptive prediction position control method based on Lyapunov stability, and the method comprises the following steps: 1, carrying out the discretization of a motion equation and a voltage equation through employing a forward Euler method, building a discrete state space model through employing feedback linearization, deducing an incremental state space model, and carrying out the calculation of an incremental state space model; a multi-step prediction output Y is obtained through iterative calculation; 2, constructing a value function Js according to multi-step prediction output; step 3, constructing a Lyapunov function V (k), iteratively updating a d-axis current weight wid and a position weight w theta of a tracking error weight matrix Qa in the value function Js obtained in the step 2 to ensure that a forward variation delta V of the Lyapunov function is less than or equal to 0, dynamically adjusting the weight matrix Qa in the value function Js, and solving an optimal control increment delta U'by minimizing Js; and 4, judging whether the voltage and the current in the optimal control increment delta U'exceed the limit or not under the constraint condition, if so, directly constraining and limiting the current and the voltage in the optimal control increment sequence delta U, and otherwise, directly outputting the current and the voltage.

The invention discloses a rice transplanter operation row accurate identification and self-adaptive tracking control method and system, and belongs to the technical field of agricultural machinery intellectualization. The method comprises the following steps: accurately identifying seedling rows through an improved YOLOv8n visual algorithm, wherein a P2 small target detection layer is added, a C2f module is reconstructed by adopting RFAConv, and an SPPF module is replaced by utilizing a Focal Modulation module; performing seedling row positioning point clustering and navigation line extraction based on a detection result, and converting image coordinates into world coordinates through a BP neural network model; and performing path tracking by adopting fuzzy prediction function control based on feedback linearization, performing accurate linearization on a non-linear motion model of the rice transplanter through feedback linearization, and dynamically adjusting a weighting coefficient by utilizing prediction function control taking Morlet wavelet as a primary function and a fuzzy controller. According to the method, the problems of difficulty in seedling row identification and poor path tracking precision in a complex paddy field environment are effectively solved, and the automation level and the operation quality of the rice transplanter are remarkably improved.

The invention belongs to the technical field of rehabilitation robots, and particularly relates to a power-assisted elbow and wrist exoskeleton based on a variable-rigidity actuator and a control method of the power-assisted elbow and wrist exoskeleton. According to the exoskeleton, variable rigidity actuators are integrated at elbow joints and wrist joints, and by actively adjusting the joint rigidity and driving torque, a safer and more comfortable power-assisted exercise and rehabilitation training environment conforming to physiological mechanical characteristics is provided for patients suffering from apoplexy hemiplegia, cerebral trauma and the like. In the aspect of ergonomics, the joint physiological rotation center and the human body structure characteristics are combined, and the fitting degree and comfort of exoskeleton wearing are guaranteed; in the aspect of the control method, high-precision position / torque tracking and active compliance are realized through multi-degree-of-freedom dynamic modeling and feedback linearization control; and in the aspect of safety design, a rigidity self-adaptive mechanism is built in, and inherent flexibility and man-machine co-protection safety in a collision or abnormal state can be guaranteed without depending on an external sensor assembly.

The application provides a method for integrated control of multi-body coupled motion of an aircraft and components thereof, which comprises: establishing a full-state dynamic model of the multi-body coupled motion aircraft, and deriving a scalar differential equation capable of explicitly showing a control input and a controlled variable; designing a basic control structure of feedback linearization without considering modeling errors, parameter errors and external disturbances; designing a control structure considering external disturbances and modeling errors, and designing a model compensation extended state observer to online estimate the external disturbances and the modeling errors, and then compensating the output of the control structure to ensure the closed-loop control effect, and finally generating the control structure compensated for the external disturbances and the modeling errors. The method can solve the problems of control structure design difficulty and poor control effect of the dynamic model of the multi-body coupled motion aircraft, and achieve the purpose of high-precision and strong-robust integrated control of the aircraft components and attitude.