23 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 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 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 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.

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 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 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 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.

This invention relates to a predetermined-time fuzzy backstepping control method for a fractional-order decoupled dual-mass MEMS gyroscope with delay constraints and actuator faults, belonging to the field of MEMS gyroscope control technology. The method includes: S2: establishing a fractional-order motion equation for the decoupled dual-mass MEMS gyroscope with actuator faults based on the Lagrange equations to eliminate the influence of linear acceleration and vibration at the same frequency; S3: constructing a β-cut 2 type fuzzy logic system to address the uncertainties and nonlinear terms of the system model; superimposing a delay error function on a specified time function to ensure that the error does not violate the constraints after a finite time; using a fractional-order hyperbolic tangent tracking differentiator in the controller design to handle direct fractional derivatives and repeated derivatives; and finally, combining the β-cut 2 type fuzzy logic system to establish a control law with an adaptive law for fault parameters.

The invention provides a time constraint control method for multiple uncertainties of a p-normative system, and relates to modeling of the nonlinear system and signal bounded judgment lemma design with more loose parameter constraint. According to the method, the requirements of system stability control on high precision, high speed, low energy consumption and the like are comprehensively analyzed, and a controller algorithm is designed based on a Lyapunov theory system and by fusing a sign function, a Nussbaum function and a self-adaptive backstepping technology. The method comprises the following steps: firstly, establishing a p normative nonlinear system model with multiple uncertainties; introducing coordinate transformation, and designing a corresponding adaptive law and a controller algorithm by means of a backstepping technology, a sign function and a Nussbaum function; secondly, establishing an event triggering mechanism and a controller which meet the requirements of the p standard type nonlinear system; and finally, selecting a proper Lyapunov function, and proving the system stability by using a signal bounded judgment lemma and a finite time stability lemma. The method can be used for a ship steering system.

The invention relates to a preset finite time backstepping control method for a small network of a four-degree-of-freedom MEMS resonator, and belongs to the technical field of MEMS control. The method comprises the following steps: constructing a four-degree-of-freedom MEMS resonator small network, and establishing a kinetic model of the four-degree-of Constructing a preset performance function which can rapidly converge within a limited time, and defining a constraint boundary of a position tracking error; converting the error variable satisfying the preset performance function constraint into an unconstrained new state variable by using a constraint conversion function; designing a type-2 sequence fuzzy neural network for approaching an unknown nonlinear function and external interference in the kinetic model; designing an acceleration exponential integral tracking differentiator for estimating the derivative of the virtual control law in the backstepping control design process; and designing a controller, and deducing control input applied to the four-degree-of-freedom MEMS resonator small network according to system state conversion, output of the type-2 sequence fuzzy neural network and output of the acceleration exponential integral tracking differentiator.

The application discloses a novel fault-tolerant control algorithm of a sliding mode for an actuator fault of a multi-rotor aircraft with state constraints. In the case that an actuator failure fault occurs in a quad-rotor unmanned aerial vehicle system with state constraints, a fault-tolerant control method is designed by combining barrier Lyapunov functions and sliding mode control. A non-singular fast terminal sliding mode is constructed to replace a traditional sliding mode surface for faults and external disturbances, so that the system has strong robustness and can realize convergence in a short finite time. In the case that state constraints exist in actual flight of the quad-rotor aircraft, barrier Lyapunov functions are introduced in the design of a control law, the sliding mode surface is constrained in a certain range in the verification of stability of the algorithm, so that the output state of the aircraft is guaranteed not to violate the constraint condition. The application is used for fault-tolerant flight control of the quad-rotor unmanned aerial vehicle with the actuator failure.

The invention belongs to the technical field of nonlinear positive system finite time stability and control, and particularly relates to positive constraint interval type-2 T-S fuzzy positive system finite time output feedback control which comprises the following steps: S1, modeling a three-tank system, and establishing an interval type-2 T-S fuzzy positive system; s2, designing an interval type-2 T-S fuzzy controller based on output feedback; s3, considering the property that all positive system state variables are non-negative, constructing a complementary positive Lyapunov functional for performing finite time stability and positive analysis on the closed-loop control system; s4, introducing related concepts such as positive system and finite time stability; and S5, setting a controller gain, and carrying out convexity solution on a non-convex term to obtain a condition that the system meets finite time stability and a positive condition. According to the method, the robustness of a control system is improved, and the expression ability of the model to uncertainty problems is enhanced. And the controller adopts output feedback control, so that the application range of the controller is widened, and the implementation cost of the controller is effectively reduced.

The application discloses a permanent magnet synchronous motor system finite time synchronization and energy consumption prediction based on fuzzy control. The proportional integral intermediate observer method is adopted to discuss the switching network system containing unknown states and unknown faults. In addition, by constructing a segmented controller containing estimated states and faults, the consistent ultimate boundedness of the estimation error system is ensured, so that the synchronization of the error system is realized. And the mode-dependent criterion is obtained to ensure the consistent ultimate boundedness and synchronization performance.

A procedure to solve an unknown fault of at least part (3) of an automatic machine (1) for manufacturing or packing consumer products and comprising a step of implementing only once a digital simulator (9) of the part (3) of the automatic machine (1) to be analysed; a step of determining a list of all the operating variables (7) characterizing the operation at least of the part (3) of the automatic machine (1); a step of recording, for a finite time interval (I), a trace (6) of at least some of the operating variables (7) while the part (3) of the machine (1) is in an operating state, so as to obtain a real sample (10); and a step of simulating the operation of the part (3) of the automatic machine (1) entering the real sample (10) as an input into the digital simulator (9), so as to obtain simulation results (11).

The invention discloses a novel Mars entering section composite control method and system. The method comprises the following steps: in an initial stage, obtaining a first control quantity by utilizing a self-adaptive finite time sliding mode control law; and in the tail end stage, updating the state of the aircraft based on the first control quantity, and calculating a second control quantity based on the updated state of the aircraft so as to control the aircraft to enter the Mars. According to the invention, the technical problem of inaccurate Mars landing control is solved.

This application relates to the field of control technology for three-degree-of-freedom wave compensation platforms, and discloses a model-free finite-time saturation control method for wave compensation platforms. The method includes: constructing a dynamic model of the compensation platform; designing the expression of the model-free controller for the compensation platform; analyzing the stability of the controller within the closed-loop system; analyzing the convergence of the tracking error of the compensation platform; analyzing the finite-time convergence of the terminal sliding surface; and adjusting the control parameters of the controller according to preset rules. This solves the dilemma when the compensation platform cannot obtain accurate initial values ​​for dynamic modeling; simultaneously, reasonable parameter design ensures that the actuator will not experience saturation, affecting the stability of the system; finally, the designed controller can converge in finite time, ensuring tracking performance superior to traditional model-free control methods such as PID. By applying this method to a three-degree-of-freedom wave compensation platform, the ship motion caused by ocean waves can be effectively offset.