9 results about "Feedback linearization" patented technology

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 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.

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.

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 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 application discloses a kind of unmanned plane angular motion control methods based on incremental local weighting, first based on inverse system idea, the local approximate inverse model of unmanned plane inner loop is constructed, and the control law of unmanned plane inner loop is obtained;Then based on local weighting learning method, the parameter adaptive updating law of unmanned plane inner loop is designed, and the regression parameter is updated, the real-time approximation of local approximate inverse model is realized;Then incremental local weighting method is used to design structure adaptive updating law, and new local approximate inverse model is automatically added when facing unknown characteristic data;Finally, the outer loop controller of the angular motion control of unmanned plane is designed, and the attitude angular velocity command is input to the unmanned plane inner loop;The application utilizes the method that local weighting learning and dynamic inverse are combined to carry out feedback linearization to system, improves the angular motion control precision of unmanned plane, and utilizes incremental local weighting method, and local model is automatically optimized, and the covering of new learning result to original result is avoided.

The application discloses a kind of distributed cooperative control method, device and equipment of direct current microgrid, and each energy storage system is updated using the average voltage estimation model considering random time delay to the average voltage estimation value of ontology;Each energy storage system generates average voltage correction value using the average voltage consistency model considering random time delay;Each energy storage system generates state of charge correction value using the state of charge consistency model considering random time delay;Each energy storage system generates reference voltage value for bottom control using feedback linearization method according to the state of charge correction value and average voltage correction value of ontology, until the current state of charge of each energy storage system realizes consistency, and the updated average voltage estimation value of each energy storage system realizes consistency.The application aims to realize the average voltage recovery and state of charge balance of direct current microgrid considering energy storage under the condition of introducing random time delay.