57 results about "Finite time" patented technology

The invention discloses a predetermined time expansion state observer generation method and an observation error convergence method, which are applied to the technical field of aerospace, and comprise the following steps: constructing a controller for a second-order nonlinear system according to an all-drive system theory; converting the second-order nonlinear system according to the controller to obtain an all-drive system based on the main controller; wherein the main controller is a controller for controlling the all-wheel-drive system; designing a predetermined time expansion state observer based on the total disturbance and observation error of the all-wheel-drive system; wherein the predetermined time expansion state observer is an observer which limits the upper bound of convergence time of the observer based on a predetermined time parameter. Compared with most existing extended state observers which can only ensure asymptotic convergence and finite time or fixed time convergence, the observer generated based on the predetermined time extended state observer generation method can ensure that the observation error converges within the predetermined time, so that the converged predetermined time is more stable; and the user experience is improved.

The invention relates to the technical field of building construction control, and particularly discloses a hydraulic synchronous control method based on model prediction, which comprises the following steps: constructing a state space model for a silo group hydraulic lifting system; state changes at future moments are predicted through the system model; solving a control problem on a finite time domain through an optimizer; the actual lifting height of the hydraulic jack is fed back to the control system, the system state at the next moment is predicted again, and control input is adjusted; a rolling optimization strategy is adopted, only the optimal control input of the current moment is executed at each control moment, and the future control input is recalculated according to the feedback value of the next moment. By establishing an accurate system model and optimizing control input, the problem that the sliding speed and height of each jack are inconsistent due to traditional manual operation can be effectively avoided, the geometric accuracy of silo group sliding formwork construction is ensured, and the construction quality is improved.

The invention discloses a high-order multi-agent system control method with unknown input time lag and quantization, which comprises the following steps: S1) under the condition of unknown time-varying time lag and input quantization, carrying out system description on an uncertain high-order multi-agent system and introducing a lag uniform quantizer; s2) converting an uncertain high-order multi-agent system tracking control problem with unknown time-varying time-lag and input quantization into a bounded problem of a differential equation solution with time-lag; s3) constructing a dominant expression of the system and feasibility conditions for realizing bounded tracking according to the bounded problem of the time delay differential equation; and S4) performing control design according to a dominant expression of the system and bounded tracking feasibility conditions. The invention designs an adaptive finite time dynamic surface control scheme for a high-order multi-agent system with unknown input delay. Meanwhile, the finite time stability theorem is utilized to prove that all signals in the closed-loop system are semi-globally practical and stable in finite time.

The invention provides a cooperative dynamic predetermined performance control method for output synchronization of a network nonlinear system, and the method comprises the steps: guaranteeing the effective transmission of information through designing a communication network (S1) between multi-agent systems; secondly, designing a dynamic performance function based on a neighborhood error (S2), giving a stricter permissible limit, and achieving a faster convergence speed; in the stage of establishing the dynamic model (S3) of the strict feedback type nonlinear system, establishing a model containing unknown parameters and disturbance for each agent; (S4), reducing the updating frequency through an event triggering mechanism to guarantee the efficient operation of the system; finally, in a PPC and backstepping control strategy (S5) stage, a finite time differentiator is used for solving the differential explosion problem in a backstepping method, and an output synchronous controller is designed; according to the method, a new performance function is introduced while the system performance is ensured, the calculation burden and the updating frequency are reduced, and the practicability and the efficiency of the system are improved.

An iterative learning fault-tolerant consistency control method for a multi-flexible-mechanical-arm system comprises the following steps that S1, a directed communication topological structure is constructed, flexible mechanical arms serve as followers, and a virtual leader is established; a mathematical model of the multi-flexible mechanical arm system is established based on the Hamiltonian principle; s2, constructing a finite time observer for estimating the angular displacement and the angular velocity of the virtual leader for each follower of the multi-flexible mechanical arm system; s3, designing an iterative learning rule, a parameter adaptive rule and a control signal of the multi-flexible mechanical arm system based on the virtual leader state estimated by the finite time observer in combination with an actuator fault model and an event triggering rule based on sampling data; according to the control method, fault-tolerant consistency control design based on a sampling data event triggering mechanism is carried out in combination with an estimated value of a finite time observer, so that communication resources are saved, and meanwhile, consistency control of the system is realized.

The invention discloses a self-triggering self-adaptive dynamic programming method based on model prediction, which belongs to the field of optimal control, and comprises the step of developing a self-triggering self-adaptive dynamic programming algorithm based on an iterative model prediction process for an unknown nonlinear system. A trigger condition function is designed through Lyapunov stability analysis, intermittent control only depending on the previous trigger state is achieved, and communication traffic is reduced. A three-network architecture composed of a model network, an evaluation network and an execution network is designed. Then, a rolling optimization mechanism is provided, infinite time domain optimization is decomposed into finite time domain sub-problems, and calculation time consumption is reduced; and finally, providing a simulation result to verify the effectiveness of the proposed method.

The application discloses a kind of high-temperature forging dynamic three-dimensional measurement-oriented sliding mode fault-tolerant control methods, and specific implementation steps include: establishing the discrete-time singular perturbation Markov jump state space model of high-temperature forging measurement system;Design probability dynamic event trigger mechanism, utilize internal dynamic variable intelligent judgment data transmission time to save bandwidth resources;For possible fraud attacks and actuator failure, build the corresponding attack model and fault model;Sliding surface and sliding control rate function are constructed;Deduce the sufficient condition for guaranteeing system reachability and closed-loop system finite time boundedness;Iterative solution controller gain and dynamic trigger parameters.The application considers network security, resource-constrained and actuator degradation and other multiple constraints under the high-temperature forging dynamic three-dimensional measurement scene, while guaranteeing the system finite time stability, significantly improves the robust cooperative control ability and operation safety of measurement system.

This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.

The application provides a finite time robust stabilization control method for a nonlinear singular time-delay system, comprising the following steps: selecting a Hamilton function for the nonlinear singular time-delay system; converting the Hamilton function of the nonlinear singular time-delay system into an equivalent differential algebraic form by combining a state decomposition method; designing a robust controller; substituting the robust controller into the equivalent differential algebraic form to obtain a strictly equivalent dissipative Hamilton form of the system; and selecting a Lyapunov function to verify the accuracy of the robust controller based on the strictly equivalent dissipative Hamilton form. The application provides a finite time robust stabilization control method for a nonlinear singular time-delay system, studies a more complex nonlinear singular system than a linear singular system, considers the influence of time delay on the system, and gives a new finite time robust stabilization control method for the system under the condition of adding external disturbance.

The invention discloses a finite time load control active power acquisition method under equality constraint, which comprises the following steps of: constructing equality constraint conditions according to the total conservation of load distribution, constructing a communication topological structure of load nodes in a smart power grid by adopting an undirected graph, and obtaining active power of the load nodes in the smart power grid according to the equality constraint conditions and the communication topological structure of the load nodes in the smart power grid. And constructing a finite time distributed optimization algorithm framework based on projection gradient descent to obtain load control active power. The method has the advantages of being high in convergence speed, low in calculation complexity, good in real-time performance, capable of meeting equality constraint conditions and the like, and a new effective solution is provided for power system load control.

The invention discloses a finite time domain fault-tolerant control method for a second-order discrete multi-agent system, and the method comprises the steps: firstly building a nonlinear multi-agent system preliminary model in a nonlinear multi-agent system described by second-order discrete time dynamics, and designing the control laws of a fault-tolerant controller and a nominal controller of an ith agent; secondly, on the basis of a fault-tolerant controller of the ith agent and a control law corresponding to the fault-tolerant controller, obtaining dynamic description of the ith agent, and establishing a dynamic model of the whole nonlinear multi-agent system by using a Kronecker product; and finally, converting a consistency problem of the nonlinear multi-agent system into a stability problem, obtaining an updated dynamic model of the multi-agent system, and completing fault-tolerant control. According to the method, the communication frequency between the intelligent agents is effectively reduced, and part of executing mechanism faults can be effectively processed.

The invention provides an unknown parameter complex network finite time synchronization control method based on bounded interference and mixed time delay, and relates to the technical field of synchronization control in automation. The method comprises the following steps: establishing a driving network model and a response network model of unknown parameters based on bounded interference and mixed time delay; determining a semi-global practical finite time synchronization condition according to the driving network model and the response network model; setting a synchronization error of the driving network and the response network, and establishing a synchronization error system; and designing a finite time state self-adaptive synchronous controller and an unknown parameter updating law according to the synchronization error, and acting the finite time state self-adaptive synchronous controller and the unknown parameter updating law on the response network to meet the condition of semi-global practical finite time synchronization, so that the finite time of the response network is synchronized to the driving network. According to the invention, the synchronization precision and the anti-disturbance capability are significantly improved, and the problem of synchronous oscillation and even instability caused by neglecting time lag or interference in a traditional method is avoided.

The invention discloses a hovercraft heading optimal control method and system, and relates to the field of hovercraft motion control. According to the method, a finite time observer is designed for the model error of a hovercraft heading control system, the model error can be estimated within finite time, the model error is compensated to counteract the influence generated by the model error when an optimal controller is designed, and the immunity of hovercraft heading control is improved; a backstepping control method and an optimal control method are combined, and an optimal controller is designed, so that the hovercraft can achieve the aim of heading tracking control with the minimum energy consumption.

The invention discloses an under-actuated ship finite time formation control method based on a historical data triggering mechanism, and the method comprises the steps: constructing a ship formation virtual control law through introducing a power nonlinear feedback term according to a formation tracking error, and introducing a first-order nonlinear filter to carry out the filtering processing of the virtual control law, performing approximation processing on unknown function items in the error dynamic equation by adopting a radial basis function neural network to obtain an optimized error dynamic equation; and constructing an information guidance dynamic event triggering mechanism based on historical triggering data, combining a formation cooperative control law and a parameter updating law, and realizing under-actuated ship finite time formation control based on the historical data triggering mechanism. The method solves the problems that the dynamic balance between the control performance and the communication efficiency is difficult to realize and the finite time quick response requirement of the time-sensitive task cannot be met due to the fact that the data weight dynamic adjustment characteristic of the historical triggering moment is not fully fused in the existing method.

The invention provides a networked vehicle elastic control method capable of overcoming spoofing attacks and actuator faults. The method comprises the following steps that a vehicle third-order nonlinear dynamic model reflecting the influence of unknown spoofing attacks, actuator faults and disturbance on networked vehicle queue control is established; setting a control target; an RBF neural network is adopted to process unknown nonlinear terms generated by spoofing attacks, actuator faults and disturbance; an improved fractional order command filter is introduced, and the problem of dimensionality explosion in the derivation process of a backstepping method is solved; introducing a Nussbaum function to eliminate the assumption that the unknown spoofing attack weight is positive; the validity of the algorithm is verified through numerical simulation. The invention designs an improved fractional order command filter based on a command filtering technology and a fractional order calculus theory. Compared with an integer order command filter, the filtering performance is obviously improved. Meanwhile, based on a finite time stability theory, the system can converge quickly.

The application provides an active migration type unloading method and system for AGV dependent computing tasks, comprising: constructing an AGV task unloading model based on a VEC system; dividing the received task into subtasks by the AGV to obtain a task sequential unloading process; dividing the state space and action space of the AGV task unloading model based on the task sequential unloading process; calculating the time delay to obtain the overall energy consumption of the task unloading; establishing an active migration type unloading scheme to update the state of the unloading task and the obtained result in the current time slot and the next time slot; defining the overall energy consumption of the task unloading as an optimization problem and converting the optimization problem into a finite time domain time-varying Markov decision problem; solving to obtain the minimum overall energy consumption required for completing the task unloading, and completing the active migration type unloading for the AGV dependent computing task. The application can realize efficient and energy-saving service migration and computing unloading in the vehicle-mounted edge computing network.

This invention provides a finite-time consistency control method for multi-manipulator systems with output constraints. Addressing the cooperative control problem of multi-manipulator systems with model uncertainties, external disturbances, and output constraints, this invention proposes a finite-time convergent adaptive control strategy based on a backstepping design framework, combined with an event-triggered mechanism and a fuzzy logic system. First, a dynamic model of the follower manipulator is established, and the synchronization state error is defined. Second, a cascaded Lyapunov function is designed to handle the output constraints, and the fuzzy logic system is used to approximate the model uncertainties. Third, an event-triggered mechanism is constructed to save communication resources, and control and adaptive laws are designed based on finite-time convergence theory. Simulation results show that the proposed method enables multiple manipulators to achieve high-precision trajectory tracking consistency within a finite time, with the tracking error strictly controlled within a minimal range. The control voltage always meets the output constraints, improving system safety and engineering applicability.

The invention discloses a multi-aircraft distributed analysis optimal cooperative guidance interception method. The method comprises the following steps: predicting guidance time of aircrafts; correcting the predicted guidance time by adopting a bias acceleration item to obtain a finite time problem, and constructing an optimal problem based on the finite time problem; based on the optimal problem, an optimal control method is adopted to obtain an optimal bias acceleration item; and obtaining an optimal acceleration instruction based on the optimal bias acceleration item, and carrying out flight control on the aircraft by adopting the acceleration instruction. According to the multi-aircraft distributed analytic optimal cooperative guidance interception method disclosed by the invention, the global optimality can be reserved to the maximum extent, the energy consumption is reduced, and the guidance time difference of each aircraft can be eliminated at a relatively low acceleration.

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

The invention discloses a finite time convergence adaptive robust control method for a hydraulic mechanical arm under an unknown load. The method comprises the steps that a system dynamics model of the hydraulic mechanical arm is reconstructed through a generalized momentum method, and a finite time convergence adaptive law and a nonlinear controller are designed; the state information of the mechanical arm is input into the finite time convergence self-adaption law in real time, the corrected self-adaption gain updating law is output after processing so as to update the self-adaption gain in the nonlinear controller in real time, meanwhile, the expected track and the expected output thrust of the mechanical arm are input into the nonlinear controller, virtual control flow is output after processing, and therefore the self-adaption gain in the nonlinear controller is updated in real time. And after nonlinear flow mapping is conducted, valve port control voltage is obtained, and then a proportional control valve of the mechanical arm is controlled. On the basis of Lyapunov analysis, finite time convergence of parameter estimation and asymptotic convergence of trajectory tracking errors of the method are strictly proved, and the method shows excellent performance in the aspects of tracking precision and load estimation accuracy of a hydraulic mechanical arm platform.

The present invention discloses a super-twisting logarithmic sliding mode control method with a finite-time preset performance constraint, which relates to the technical field of preset performance control. The present invention proposes a piecewise preset performance function constructed based on the hyperbolic cotangent function. This performance function can converge within a finite time, weakens the dependence on the initial state of the system, and improves the applicability of the control method. At the same time, for a nonlinear second-order system, a logarithmic sliding mode surface with a large local gain near the equilibrium point is constructed. The logarithmic sliding mode observer is used to estimate the unknown mismatched nonlinear disturbance of the nonlinear second-order system, and a logarithmic super-twisting sliding mode controller based on the logarithmic sliding mode surface is applied to make the system state quickly converge to a small neighborhood near the equilibrium point in the form of the preset performance within a finite time. This control strategy can effectively suppress the chattering phenomenon in the sliding mode control and improve the convergence accuracy within a finite convergence time.

The invention discloses a method for constructing a non-smooth consistency protocol based on a leader-free multi-agent system and improving the anti-interference performance of the non-smooth consistency protocol. The method comprises the following steps: firstly, establishing a dynamic model based on a leader-free agent system, introducing mismatching disturbance and matching disturbance, establishing a Laplacian matrix between agent formations according to a communication topological graph, and determining the coupling strength between agents and whether the agents are intercommunicated or not; designing a virtual speed based on a backstepping method to enable the states of the multiple agents to be consistent in a fixed time, and designing a control law according to a fixed time control method to enable the actual speed of the multiple agents to track the virtual speed in the fixed time in the presence of composite interference; as not all states can be directly obtained by measurement in practical application, an observer needs to be designed to reconstruct the system state. Therefore, a finite-time multi-dimensional state reconstructor is designed and is used for simultaneously estimating the unknown state and interference of the system. The control purpose of stabilizing the second-order multi-agent disturbed system in the global finite time is achieved.

The application discloses a global finite time convergence permanent magnet synchronous motor control method based on a backstepping method framework, comprising the following steps: 1) on a MATLAB platform of an upper computer, a permanent magnet synchronous motor control system is designed based on model-based design by using MATLAB / Simulink software; 2) a hardware circuit of a permanent magnet synchronous motor vector control system is built; 3) a finite time nonlinear extended state observer NLESO is designed; and 4) under a recursive control framework of the backstepping method, a super-spiral sliding mode algorithm with a second-order sliding mode characteristic is fused, and a globally finite time stable compound controller is designed. By integrating the observer convergence and the double closed loop stability, the application effectively suppresses the 'chattering' phenomenon of the traditional sliding mode control, and significantly improves the dynamic response speed, the steady state tracking accuracy and the anti-interference robustness of the motor in the whole working condition range.

The invention discloses a fuzzy load frequency control method for a multi-region interconnected power system, and the method comprises the steps: building a load frequency control mathematical model of each region of the multi-region interconnected power system based on an interval type-2 fuzzy logic; a memory type event trigger function containing dynamic variables is designed and used for judging whether output of the mathematical model at each moment is sent to a sliding mode controller or not, if the memory type event trigger function at the current moment is smaller than 0, sending is carried out, and otherwise, sending is not carried out; and designing a sliding mode controller, receiving the output of the mathematical model, and generating the controller output as the input of the mathematical model, so that the track of each region of the system moves to a pre-specified sliding mode region within finite time and is kept in the sliding mode region. And the stable operation of the system under the uncertainty communication constraint is ensured.

The invention provides a predefined time preset performance tracking control method under input saturation of a mechanical arm, and belongs to the technical field of robot control. The method comprises the steps that a mechanical arm dynamic model is established, and a tracking error is defined; designing a finite time performance function for constraining the dynamic behavior of the tracking error; the design auxiliary system is used for generating a modification signal when the input is saturated; dynamically adjusting the finite time performance function by using the modification signal to obtain a self-correction flexible finite time performance function, and converting the tracking error based on the finite time performance function; and based on the predefined time stability theorem and the conversion error, a predefined time preset performance sliding mode controller is designed, and trajectory tracking of the mechanical arm under the input saturation and model uncertainty conditions is achieved. The method solves the problem that the control precision of the mechanical arm is low.

The application discloses a data-driven optimal switching control method of a switching system. The application firstly determines an optimal control strategy to minimize the cost of the switching system in an infinite time domain; then deduces an optimal solution based on a finite time domain HJB equation, which starts from a positive definite function, obtains an approximation formula of a value function according to a partial derivative, and introduces an approximate function in the form of a multiplication of a base function and a weight to replace unknown quantities in the approximation formula; the weight of the approximate function in the approximation formula can be estimated by using a state data matrix; finally, the weight estimation value is continuously updated until an approximate optimal weight is obtained, and then the optimal cost and the optimal switching control strategy are calculated by substituting the approximate optimal weight into the infinite time domain HJB equation. The method only needs state data, does not need subsystem models, can realize the optimal switching control of the switching system, does not depend on system models, and is suitable for the case that the subsystem models of the switching system are unknown.

The invention discloses a fault-tolerant control method based on a polyhedral uncertain interconnection system, and the method comprises the steps: building a spatial interconnection system state space model with polyhedral uncertainty and external interference, and constructing a dynamic model through representing an actuator fault as a structured uncertainty parameter with a known boundary; constructing an iterative learning control increment model containing an actuator fault based on the model, and defining a system operation batch, a finite time period, an expected trajectory and a tracking error; designing an I LC updating law, and further exporting a linear discrete repetition process model represented by an extended state vector; for repetitive and non-repetitive disturbances, calculating a controller gain matrix which ensures that the system has robust stability and H-infinity performance indexes by solving a linear matrix inequality; the high-precision tracking performance and the strong fault-tolerant capability of the system under the conditions of multi-source uncertainty, interference and actuator faults are verified through online experimental operation and root mean square error calculation.

The invention relates to a rigid aircraft attitude control method based on time and precision collaborative presetting, which comprises the following steps: firstly, establishing an aircraft attitude dynamic model containing external interference and inertia uncertainty based on modified Rodrigues parameters, and meanwhile, constructing a novel finite time preset performance function; the method has the core advantages that the convergence time can be explicitly set, and the steady-state precision boundary can be flexibly adjusted; secondly, a preset performance attitude tracking controller is designed based on the conversion error, and cooperative constraint and accurate regulation and control of performance indexes such as convergence time, overshoot and steady-state precision are achieved; further, the unknown nonlinear function of the system is approximated through a fuzzy logic system, and the uncertainty and external disturbance of the model are compensated by adopting an adaptive law; and finally, strictly proving the actual specified time stability of the closed-loop system through the Lyapunov theory. According to the method, the control quality, the response speed and the robust stability of the aircraft in an uncertain environment are effectively improved.

The application discloses a second-order terminal sliding mode control method based on time delay estimation fuzzy observer backstepping method, and aims at unknown disturbance and trajectory tracking problems of a mechanical arm system in many practical problems, estimates kinematics and dynamics parameters of the system through time delay estimation, estimates total disturbance existing in the system through a novel fuzzy observer, combines the second-order sliding mode control to increase instantaneous response and reduce steady-state error, suppresses chattering phenomenon while guaranteeing finite time convergence of tracking error, and finally proves stability of the system by adopting a Lyapunov method, and according to comparison of different methods, fast and accurate tracking of a desired trajectory in the method is shown.

The invention provides an active migration type unloading method and system for an AGV dependent computing task, and the method comprises the steps: building an AGV task unloading model based on a VEC system; the AGV divides the received tasks into sub-tasks and obtains a task sequential unloading process; dividing a state space and an action space of the AGV task unloading model based on a task sequence unloading process; calculating time delay to obtain total energy consumption of task unloading; establishing an active migration type unloading scheme, and performing unloading tasks of the current time slot and the next time slot and state updating of an obtained result; defining total energy consumption of task unloading as an optimization problem, and converting the optimization problem into a finite time domain time-varying Markov decision problem; and solving to obtain the minimum total energy consumption required by task unloading completion, and completing active migration type unloading oriented to the AGV dependent computing task. According to the invention, efficient and energy-saving service migration and computing unloading in the vehicle-mounted edge computing network can be realized.