80 results about "Feedback linearization" patented technology

The invention relates to the technical field of robot control, in particular to a force control method and system based on an impedance model for a rope-driven robot. Comprising the steps of system dynamics modeling and parameter identification, real-time axial compression sensing and model updating, Cartesian space impedance model design, adaptive impedance parameter adjustment, inner ring position control based on feedback linearization, force error compensation and expected trajectory generation, real-time control circulation and anti-interference processing and experimental verification and iterative optimization. According to the method, through real-time axial compression sensing and equivalent Young modulus dynamic updating, the problem of model mismatch caused by material rigidity sudden change in the phase change process of the hyperelastic material is solved. Specifically, a traditional method depends on static material parameter calibration, and real-time compensation of the nonlinear characteristic of the material is achieved through online estimation of the axial compression amount of the main beam and iterative correction of the Young modulus.

The invention discloses an aircraft active side lever force feedback control method based on feedback linearization. The method is suitable for pitch axial force feedback control and roll axial force feedback control of an aircraft active side lever. The method comprises the following steps: establishing a kinetic equation of a mechanical transmission system and a pitch axis motor or a roll axis motor, and establishing a state-space equation of an active side lever system according to the equation; designing a linear expansion observer, and estimating the thrust applied to the active side lever by the driver based on the linear expansion observer; and designing a feedback linearization control method, deducing a control law according to a state-space equation of the active side lever system, and introducing the estimated thrust applied to the active side lever by the driver into the control law to realize real-time compensation of external interference. Under the condition that the thrust of the driver cannot be measured, the thrust of the driver is obtained through the linear expansion observer, the thrust of the driver is compensated by designing the control law, and therefore the dynamic performance and the steady-state performance of the servo system are improved.

The invention provides a hypersonic flight vehicle control method based on adaptive dynamic programming, and relates to the technical field of hypersonic flight vehicle control. The method specifically comprises the following steps: building an actual performance model of the hypersonic flight vehicle, and simplifying the actual performance model of the hypersonic flight vehicle; converting the simplified actual performance model of the hypersonic aircraft into a hypersonic aircraft model in a strict feedback form; designing a state feedback controller according to the thought of a backstepping method and a feedback linearization method, and then carrying out optimization compensation on the state feedback controller by utilizing a self-adaptive dynamic programming algorithm, namely, dynamically updating network weights on line by designing weight updating laws of an execution network and an evaluation network, so as to obtain a mathematical control surface angle control quantity; and converting the obtained mathematical control surface angle control quantity into an actual physical control surface angle control quantity, and inputting the actual physical control surface angle control quantity into an actual hypersonic aircraft model to realize a state tracking control closed loop of the whole hypersonic aircraft.

The invention provides a trajectory planning method and device of a mechanical arm, a storage medium and a computer program product. The trajectory planning method comprises the following steps: an information acquisition step: acquiring environment information around the mechanical arm and state information of the mechanical arm; a path planning step: according to the acquired environment information and the state information of the mechanical arm, performing path planning by adopting a fast random tree extension method so as to generate a running path of the mechanical arm, and smoothing and optimizing the running path by using a gradient descent method; and track control: converting a control system of the mechanical arm from a nonlinear system into a linear system by using a feedback linearization method, optimizing the control gain of the linear system by using a linear quadratic regulation controller according to the state information and the environment information of the mechanical arm, and generating a control instruction for controlling the mechanical arm to track a running path. According to the invention, the control instruction is dynamically adjusted through real-time sensing information, so that the robot can more flexibly and accurately avoid obstacles in a dynamic environment.

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 four-rotor unmanned aerial vehicle hoisting control method based on feedback linearization sliding mode control, and belongs to the technical field of four-rotor unmanned aerial vehicle hoisting control. The method comprises the following steps: firstly, performing dynamic feedback linearization on a mathematical model by utilizing differential flatness of the system, constructing a positioning anti-swing controller of the four-rotor unmanned aerial vehicle hoisting system by combining with sliding mode control, and performing positioning on the four-rotor unmanned aerial vehicle hoisting system through a given smooth positioning expected track; and finally, the controller enables the four-rotor unmanned aerial vehicle hoisting system to be capable of accurately tracking and positioning and effectively eliminating the residual swing angle. Experiments prove that the robustness of the controller is high, and the method can effectively improve the reliability and safety of the four-rotor unmanned aerial vehicle hoisting system, so that the transportation efficiency is improved.

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.

The present invention discloses a photovoltaic DC microgrid bus voltage stabilization control method and system, which relates to the fields of power electronics technology and control technology, including establishing a generalized reduced-order average model of DC-DC and selecting state variables; using feedback linearization technology to process the nonlinear characteristics of the system and convert the nonlinear system into a linear form; integrating backstepping control, sliding mode control and fixed time theory to design a fixed time adaptive backstepping sliding mode; improving the intermediate control law according to the output of the fixed time adaptive backstepping sliding mode to control the bus voltage stability. The present invention realizes the precise convergence and stabilization of the bus voltage within a fixed time, converts a complex system into a more controllable linear system form, and improves the design efficiency and performance of the controller; the fixed time adaptive backstepping sliding mode observer can quickly and accurately estimate the power change of the CPL, provide real-time feedback for the controller, and enhance the controller's adaptability and robustness to disturbances.

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 belongs to the field of electromechanical transmission systems and control, and provides an intelligent electromechanical transmission system and an optimal control method thereof. The intelligent electromechanical transmission system has a first output form, a second output form and a third output form. The method comprises a starting process control method and an operation process control method. According to the operation process control method, engine load rate, direct current bus voltage and motor power constraint are comprehensively considered, and engine target rotating speed is generated; respectively controlling the generator and the motor by using vector control precaution based on rotor field orientation; designing a current inner loop decoupling controller of the asynchronous motor vector control system by applying a basic method of feedback linearization; and tracking the change of the load torque by using an error-based active-disturbance-rejection constant-speed control strategy to realize constant-speed control. The optimal control method is provided mainly for the electromechanical transmission requirement, the working efficiency and stability of the transmission system are improved, and stepless speed change and transmission intelligent control are achieved through electromechanical transmission.

The invention relates to the technical field of robot control, and discloses a lower limb rehabilitation robot control method and system based on IT2-FC, a medium and equipment, and the method comprises the steps: constructing an interval type-2 fuzzy controller, and constructing a lower limb rehabilitation robot system model with feedback linearization; solving an optimal state feedback matrix by using an LQR method, formulating a domain of discourse of input and output of the controller, dividing the domain of discourse, and constructing input and output triangular membership functions of the hip joint and knee joint interval type-2 fuzzy controller; constructing an interval type-2 fuzzy control rule, reducing a type-2 output fuzzy set reasoned by the fuzzy control rule by using a centroid reduction method to obtain an interval range of a type-1 membership function in type-2 membership functions, and performing ambiguity resolution by using a centroid method to obtain output of a hip joint and knee joint interval type-2 fuzzy controller. And motion tracks of hip joints and knee joints are simulated. The method can be suitable for the condition of large individual difference of patients, the anti-interference capability is improved, and the control precision is improved.

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 invention provides a preset performance control method for a DC converter with a constant power load boost based on event triggering in an energy storage system, and aims to solve the problem of output voltage stability caused by load switching and unknown disturbance in a power system. A nonlinear uncertain direct-current converter system is converted into a Brunovsky standard form through an accurate feedback linearization technology. And secondly, unknown disturbance is estimated by adopting a nonlinear disturbance observer, and the output voltage regulation precision is improved through feed-forward compensation, so that system uncertainty and external disturbance are effectively dealt with. And based on a backstepping method, designing a preset performance controller to ensure that an output voltage tracking error changes within a preset range. In addition, an event triggering mechanism is introduced, and a reasonable triggering threshold value is set, so that the operation efficiency is optimized, and the switching loss is reduced. On the basis of a backstepping method, a composite nonlinear controller containing event triggering and preset performance is constructed. A simulation result verifies the effectiveness of the strategy.

The application belongs to the technical field of flight control. The application provides a specified time increment control method for aircraft flow angle under multiple fault interference. The method comprises the following steps: establishing the dynamics equation of the aircraft flow angle and angular rate and converting it into a strict feedback linearization form; performing first-order Taylor expansion on the dynamics equation at the current sampling time to establish a control-oriented incremental model; designing a specified time flow angle controller and a specified time angular rate controller for the aircraft based on the control-oriented incremental model and the specified time theory to achieve specified time control of the aircraft flow angle. The disclosed embodiments have the advantages of simple structure and strong robustness, only require the state differential measurement information and control surface manipulation derivative of the aircraft, effectively reduce the dependence on accurate nonlinear terms in the aircraft model, and can still achieve accurate flow angle control under specified time even under multiple faults.

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.

In directional drilling, a nonlinear Delay Differential Equation (DDE) model may be used for its high precision in predicting how a borehole may be drilled according to a well plan. To address challenges associated with real-time control of a drill drilling wellbore, techniques of generalized feedback linearization, finite element concept, and zero-order hold discretization may be used to transform a nonlinear DDE model into discretized domain with a linear Ordinary Differential Equation (ODE) form. Following this transformation, a novel optimization framework may be used to concurrently determine optimal control inputs and solve a linear complementarity problem (LCP). The validity of both the discretized model and the optimization strategy may be verified by comparing modeled results with real-world results. Subsequent closed-loop simulations demonstrate the ability of the proposed model predictive control to maintain alignment of a drill string with a planned well trajectory, even in the presence of disturbances and noise.

Methods and systems for controlling a bank angle, a heading angle and an altitude of an aircraft during flight are provided. The methods and systems disclosed herein make use of sliding mode control and feedback linearization control (nonlinear dynamic control) techniques. The methods and systems can provide autopilot-type functions that can autonomously execute aggressive maneuvers as well as more gentle maneuvers for aircraft.

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 relates to a computer-implemented method for designing a feedforward control system for a controlled variable of a machine using a Local Model Network (LMN), the method comprising the steps: - Providing (S1) input data, in particular current and historical, to the controlled variable of the machine, as well as data of the controlled variable corresponding to the input data, in particular current and historical; - Training (S2) the Local Model Network based on the input data and the data of the controlled variable and converting (S3) the Local Model Network into a state space representation; - Applying (S4) a feedback linearization to the trained Local Model Network in the state-space representation to provide the feedforward control for the controlled variable; and - Providing (S5) the feedforward control for a controlled variable to control the machine's controlled variable.

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 application discloses an intelligent electric vehicle platoon control method for defending against denial of service network attacks, and belongs to the field of automobile intelligent safety and automatic driving. For the vehicle platoon control problem of DoS attacks and external disturbances, the vehicle-mounted sensor and the V2X wireless communication system are utilized to realize information interaction of the self and other vehicles, the inverse model compensation and feedback linearization technology are adopted, the vehicle queue closed-loop control model with external disturbances is established, and a switching queue robust control method for defending against DoS attacks based on an observer model is designed. A switching controller which only depends on relative output information for updating is designed for the longitudinal queue system of the electric vehicle, so that the information transmission hidden danger of the queue system caused by the Dos attack is effectively defended against, the external disturbance is inhibited, and the performance index of the platoon control is realized. The stability of the queue system is realized, and the expected vehicle-to-vehicle distance and the expected driving speed of each vehicle in the queue are ensured.