45 results about "Finite time control" patented technology

The invention discloses a finite time tracking adaptive control method for a mechanical arm based on a neural network, and relates to the technical field of industrial robot control. The method comprises the following steps: constructing a kinetic model of the mechanical arm, obtaining an existence form of an unknown nonlinear term in the model, and defining a joint position tracking error and an error change rate of the mechanical arm; constructing a sliding mode dynamic equation based on the tracking error and the error change rate; a BP neural network is adopted to approach the unknown nonlinear dynamic state of the mechanical arm, and the mapping relation between a network input vector and an output vector is determined; combining a sliding mode dynamic equation with BP neural network output, and designing a finite time control method including adaptive gain; and a self-adaptive updating method of BP network weight and sliding mode gain is deduced, so that the tracking error of the mechanical arm is converged to a zero neighborhood within preset time, and self-adaptive control of the mechanical arm is completed. According to the method, high-precision trajectory tracking within the preset time can be realized, and the anti-interference capability is high.

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The application provides a UAV cluster formation tracking method and system, computer equipment and medium, belongs to the UAV cooperative control technical field, and the method comprises the steps that firstly, a leader-follower second-order integral model is established, and position and speed tracking errors are calculated based on a preset time-varying formation; a fractional power nonlinear feedback term is introduced to construct a finite time control law, so that the errors converge to zero in a finite time; a dynamic event triggering mechanism is constructed at the same time, the control signal is updated and communication is triggered only when the current state and the measurement error at the last triggering time exceed the dynamic threshold, otherwise the old instruction is followed; in addition, theoretical analysis proves that there is a strict positive lower bound between adjacent triggering intervals, which fundamentally eliminates Zeno behavior. Under the premise of ensuring the finite time convergence performance, the application significantly reduces the communication frequency and on-board energy consumption of the UAV cluster, and is especially suitable for cluster cooperative operation scenarios with severely limited bandwidth and energy.

The invention provides a complex system control method, device and equipment based on a diffusion model, and relates to the technical field of control systems. The method comprises the following steps: acquiring a current system state and a target system state of a complex system and initial system noise information sampled in a preset time period; inputting the current system state, the target system state and the initial system noise information into a denoising network in a diffusion model, and denoising the initial system noise information through the denoising network to obtain a plurality of target prediction system states of the complex system in a preset time period; inputting a prediction system state sequence formed by a plurality of target prediction system states into the inverse dynamic model, estimating two adjacent target prediction system states in the prediction system state sequence through the inverse dynamic model, and generating a corresponding control signal sequence; and performing finite time control on the complex system based on the control signal sequence. By adopting the technical scheme provided by the invention, the control effect of a complex system can be improved.

The application belongs to the field of automatic control technology of aircraft, and proposes a quadrotor double pendulum finite time swing elimination method based on full drive mapping and active anti-disturbance, which is applied to a quadrotor unmanned aerial vehicle double pendulum hoisting system. The method adopts a hierarchical control structure composed of an outer ring position and swing elimination control module and an inner ring bottom layer flight control module. The method comprises the following steps: establishing a quadrotor double pendulum horizontal plane block matrix dynamics model; full drive state mapping and dynamic reconstruction facing the controller; Y-axis full drive space isomorphic expansion; UDE-based finite time control law design; closed loop system stability and finite time convergence analysis based on Lyapunov theorem. The application can improve the waypoint tracking accuracy, swing angle suppression effect and robust flight capability of the quadrotor double pendulum hoisting system under the working condition that discrete waypoints are switched and external wind disturbance exists simultaneously.

The application provides an active control method of an electro-hydraulic servo system based on finite time control. The method dynamically restricts the error boundary through a time-varying obstacle Lyapunov function, combines a backstepping recursive control framework with a fractional order convergence term, significantly improves the convergence speed and anti-interference ability of the system, effectively suppresses the overshoot problem and chattering phenomenon of PID control, designs a feedforward compensation and an adaptive disturbance observation mechanism in view of the nonlinear characteristics and anti-interference problems of the electro-hydraulic servo system, and still can quickly recover stability under strong external disturbance, thereby ensuring the accuracy and robustness of the control force output, and based on the similarity criterion, a scale experiment platform is constructed to verify the engineering universality of the control strategy, and an efficient, reliable and easy-to-deploy solution is provided for the anti-seismic control of complex structures.

The invention discloses a mobile robot formation finite time control method based on visual servo. According to the method, firstly, a relative kinematics model between a navigation robot and a following robot is established under a world coordinate system, the relative kinematics model is converted into a relative vision kinematics model in an image space in combination with a pinhole camera model, and an image error vector is obtained through normalization; for the error model, a non-linear observer is designed to estimate the unknown speed of the piloting robot, a parameter adaptive updating law is provided to process the uncertain feature height, and a finite time controller based on the linear speed and the angular speed is further designed to realize accurate tracking of the piloting robot. The information required by the method can be acquired from the image, the method does not depend on local communication or GPS between the robots, the communication and sensor loads are small, the tracking control precision is good, the system response speed is high, and the method is suitable for efficient cooperative control in the multi-robot formation task.

The invention provides a finite time cross-domain aircraft cluster formation control method based on a neural network, and relates to the field of aircraft control, and the method specifically comprises the steps: building a unified nonlinear non-strict feedback system for the dynamic characteristics of cross-domain aircrafts in different domains; collecting real-time flight states and position information of a plurality of followers; designing an improved Tan type nonlinear mapping function, and identifying an initial output constraint type of the system to obtain an unconstrained new variable; constructing a dual neural network combining a shared network and an exclusive network, designing a backstepping method, combining a switching function and a non-singular fast finite time control strategy, and controlling the output of a dual neural network structure; and a switching threshold event triggering mechanism is designed, so that the unmanned aerial vehicle group has different responses in different environments. According to the technical scheme, the problem that mode switching, dynamic coupling and cooperation consistency in cross-domain cooperation are not considered in a formation control method in the prior art is solved.

The invention discloses a finite time composite vibration suppression control method and system for same-frequency vibration of a magnetic bearing-rotor system. The finite time composite vibration suppression control method comprises the steps that a synchronous vibration component in rotor displacement is extracted through a same-frequency narrow-band tracking filter; performing phase lead correction by using an all-pass phase shifter, generating a feed-forward compensation force by combining an equivalent gain and electromagnetic linear model based on a feedback link, and offsetting a displacement stiffness force which causes vibration transmission from a physical source; a finite time same-frequency narrow-band extended state observer is constructed, and rapid and accurate finite time estimation is carried out on total disturbance including model mismatch; and designing a finite time nonsingular terminal sliding mode controller, fusing the feedforward compensation force and the disturbance estimation value, and generating a control law with a finite time convergence characteristic. According to the method, through cooperation of feed-forward compensation, finite time observation and finite time control, rapid convergence and high-robustness stabilization of same-frequency vibration and effective suppression of control buffeting under a dynamic working condition are realized.

A finite-time anti-interference control method for a universal pneumatic flexible manipulator includes the following steps: The universal pneumatic flexible manipulator is simplified to a link model using the D-H method, and kinematic analysis is performed to obtain the kinematic analysis model and the position of the end point of the universal pneumatic flexible manipulator; based on the kinematic analysis model of the universal pneumatic flexible manipulator, a dynamic model of the universal pneumatic flexible manipulator is established using the Euler-Lagrange method; the uncertainty of the universal pneumatic flexible manipulator is considered as a disturbance, and a second-order mathematical model of the pneumatic flexible manipulator is established; a finite-time extended state observer is designed to estimate the disturbance, and based on the disturbance estimate, a finite-time backstepping controller is designed to compensate for the influence of the disturbance on the system; to address the model uncertainty, a finite-time control method is designed to compensate for the influence on the position control accuracy of the pneumatic flexible manipulator, exhibiting strong robustness and high control accuracy.

This invention provides a robust adaptive finite-time fault-tolerant control method for T-S fuzzy systems with component faults and external disturbances. The method includes: modeling system component faults as multiplicative faults to establish a more general system fault model; constructing a fault-tolerant compensation controller using online estimation information provided by an adaptive mechanism to effectively handle faults, external disturbances, and input saturation; and introducing finite-time control based on the adaptive mechanism to ensure the finite-time convergence of the system trajectory tracking error. This invention establishes a system fault model, which is beneficial for describing system component faults, actuator faults, and uncertainties. It designs an adaptive fault-tolerant mechanism to estimate the upper bound of unknown parameters without needing to know the specific parameter information of the faults and disturbances. To improve fault tolerance performance and address saturated input nonlinearity, a finite-time control method is proposed to ensure the finite-time stability of the closed-loop fault-tolerant system and the finite-time convergence of the tracking error, thereby improving fault tolerance performance.

This invention relates to a teleoperated robot control method based on event triggering and finite-time control, solving the problem of poor stability of teleoperated robots with asymmetric variable time delay, achieving finite-time position tracking convergence, and saving network communication resources. The method includes: sending the master-end position signal and the slave-end position signal via a zero-order hold to the master-end finite-time controller to calculate the control torque, which is then sent to the master-end robot to control its movement; sending the master-end position signal to the master-end event triggering decision-maker, which determines whether to use the communication network to transmit the current master-end position information based on the master-end event triggering strategy; sending the slave-end position signal and the master-end position signal via a zero-order hold to the slave-end finite-time controller to calculate the control torque, which is then sent to the slave-end robot to control its movement; and sending the slave-end robot position signal to the slave-end event triggering decision-maker, which determines whether to use the communication network to transmit the current slave-end position information based on the slave-end event triggering strategy.

The invention belongs to the technical field of unmanned aerial vehicle flight control, and discloses an unmanned aerial vehicle rapid composite control method and system based on fuzzy asymptotic. In the aspect of steady-state precision, the method breaks through the inherent limitation that traditional finite time control can only achieve bounded neighborhood convergence, and the reliability and execution capacity of the system in a high-precision task are remarkably improved. In the aspect of transient response, a nonlinear feedback mechanism in a fractional power form is introduced, so that the system can obtain a super-linear convergence rate in an initial stage or when encountering large-deviation disturbance. In terms of robustness and realizability, a structure combining low-pass filtering and dynamic error compensation is adopted in the method, and implementation difficulty caused by high-order differential calculation is effectively avoided; meanwhile, parameter perturbation, unmodeled dynamics, external wind disturbance and the like are estimated and compensated in combination with an adaptive fuzzy system, and the adaptive capacity and anti-interference performance of the system in a strong-coupling and nonlinear environment are remarkably enhanced.

The invention provides an integrated anti-saturation finite time sliding mode control method for pointing and tracking of a multi-laser terminal satellite. According to the method, a multi-terminal satellite attitude-terminal pointing integrated finite time tracking control method is designed. In order to solve the problem that a satellite platform and a terminal controller are designed respectively and dynamic tight coupling of the satellite platform and the terminal controller is neglected in an existing control method, an integrated modeling and control method is developed. Based on a finite time stability theory and a Lyapunov stability theory, an integrated finite time controller design method of a multi-input multi-output system such as a multi-laser terminal satellite multi-body multi-stage tracking system is given, and the problem of terminal satellite platform-multi-terminal turntable-fast reflector full-link integrated coordination tracking control is solved. And the safety and stability of the system operation process can be ensured.

This invention provides a multi-tugboat cooperative assisted safe berthing control system, comprising: a kinematic control module that generates speed commands based on finite-time control theory to rapidly converge pose errors; a speed constraint optimization module that optimizes speed through quadratic programming, using safe distances between tugboats and speed limits as constraints; a disturbance observation module that uses a robust precise differential extended state observer to estimate the system and environmental disturbances online; a dynamic control module that combines optimized speed and disturbance estimates, using a finite-time sliding mode control algorithm to generate control commands for precise tracking; and a safety constraint module that transforms safe distance requirements into linear inequality constraints based on a control obstacle function, and integrates control commands through quadratic programming to achieve dynamic collision avoidance and safe operation. This invention improves berthing efficiency, accuracy, and safety, enhancing control precision and operational stability during the berthing process while ensuring the safety of tugboat cooperation.

The invention belongs to the technical field of mechanical arm control, discloses a mechanical arm system self-adaptive finite time control method based on an instruction filtering sliding mode, and provides a self-adaptive finite time instruction filtering sliding mode control scheme based on composite learning fuzziness for an uncertain mechanical arm system with external disturbance. According to the method, auxiliary error signals are introduced into an error compensation mechanism, the singularity problem of a traditional instruction filtering sliding mode control method is solved, and finite time convergence of tracking errors is achieved. According to the method, by introducing a composite learning fuzzy algorithm, approximation processing is carried out on uncertainty and external disturbance of a system model, and therefore the control precision of the mechanical arm system under the interval excitation condition is improved. In addition, based on a simulation result, it is shown that the mechanical arm system adopting the mechanical arm system self-adaptive finite time control method based on the instruction filtering sliding mode can achieve good steady-state and transient-state performance.

This application relates to the field of permanent magnet synchronous motor control technology, and provides a data-driven event-triggered finite-time control method for permanent magnet synchronous motors. This method eliminates the dependence on precise system parameters, enabling the controller to maintain stability even under changes in motor parameters. This application acquires the current and angular velocity data of the permanent magnet synchronous motor at the current acquisition time; based on the current and angular velocity data at the current acquisition time, and the current and angular velocity data at the last triggering time, it determines whether the triggering condition is met at the current acquisition time; if the triggering condition is met, parameter estimation is performed based on the current and angular velocity data at the current acquisition time to obtain the estimated parameters corresponding to the current acquisition time; based on the estimated parameters corresponding to the current acquisition time and the current and angular velocity data at the current acquisition time, the control signal that the actuator should apply at the current acquisition time is calculated; the control signal is applied to the permanent magnet synchronous motor.

The application discloses a model-free unmanned underwater vehicle trajectory tracking method and system, which comprises the following steps: step 1, according to a given expected trajectory and a measured unmanned underwater vehicle position, a tracking error and a tracking error change rate are calculated, and a nonlinear non-singular terminal sliding mode surface is constructed; step 2, according to the unmanned underwater vehicle position, speed and expected trajectory, a dynamic regression matrix is calculated; step 3, according to the sliding mode surface and the dynamic regression matrix, a nonlinear adaptive law is designed, and an upper bound of model uncertainty, a lower bound reciprocal of input saturation inverse scale factor and an estimated value of unknown physical parameters of the unmanned underwater vehicle are obtained; and step 4, according to the estimated value obtained in step 3, a model-free robust adaptive finite time control law is designed in combination with a control law gain coefficient and the dynamic regression matrix. The application can solve the problem of trajectory tracking control of the unmanned underwater vehicle under the conditions of input saturation and model uncertainty and unknown physical parameters.

The invention provides a multi-tug cooperative auxiliary safe berthing control system, which comprises a kinematics control module for generating a speed instruction based on a finite time control theory so as to quickly converge a pose error; the speed constraint optimization module is used for outputting an optimized speed through quadratic programming by taking the safety distance between tugs and the speed limit as constraints; the disturbance observation module is used for estimating system and environment disturbance on line by adopting a robust submicron expansion state observer; the dynamic control module is used for generating a control instruction by using a finite time sliding mode control algorithm in combination with the optimized speed and the disturbance estimation value to realize accurate tracking; and the safety constraint module is used for converting a safety distance requirement into linear inequality constraint based on a control obstacle function, and realizing dynamic collision avoidance and safe operation through quadratic programming fusion control instructions. According to the system, the berthing efficiency, precision and safety are improved, and the control precision and operation stability in the berthing process can be improved while the cooperative safety of the tug is guaranteed.

The application provides a non-periodic intermittent-based fractional-order Chua circuit system finite time control method and system, comprising: setting an initial state of the fractional-order Chua circuit system, and measuring a state variable of the fractional-order Chua circuit system by using a sensor; constructing a finite time non-periodic intermittent controller by using the state variable measured by the sensor; converting a digital control signal output by the finite time non-periodic intermittent controller into a physical quantity by using an executor, and injecting the physical quantity into a corresponding node of the fractional-order Chua circuit system in a working interval, so as to realize finite time stable control of the fractional-order Chua circuit system. The application provides a new solution for finite time control of the fractional-order Chua circuit system, can be applied to fields such as chaos synchronization and secret communication, and has theoretical value and engineering practicability.

The application provides a predefined finite time control method and system for an island micro-grid, and the method comprises the following steps: establishing a large signal model of a distributed power generation unit (DG) based on an inverter; obtaining a second-order feedback system of a single distributed power generation unit (DG) through input-output feedback linearization; designing a disturbance observer for estimating nonlinear uncertain items of the feedback system; designing a distributed virtual controller based on predefined finite time; and constructing an overall Lyapunov function to verify that all signals are bounded in the distributed power generation units (DG) realized by all designed backstepping control strategies, and the synchronization error converges to a predefined finite time function within a predefined finite time. The application solves the technical problems that the inertia of the DG is small, the IMG is affected by uncertain and intermittent environmental changes, the transient performance index is poor, and the secondary voltage control effect of the IMG is restricted.

The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot hovering dynamic positioning control method for subsea pipeline monitoring, a program, equipment and a storage medium. On the basis of a finite time control theory, the uncertainty of an unmanned autonomous underwater robot model and the possibility that the unmanned autonomous underwater robot model is subjected to different types of time-varying disturbance in water areas with different depths are considered, and a finite time expansion state observer and a self-adaptive non-singular fast terminal sliding mode controller are designed. In the control process, the pose, the speed and the lumped disturbance value are adaptively updated through the pose estimation error and then substituted into the controller for compensation, the robustness of the system is improved, control force and torque are output according to the adaptive non-singular fast terminal sliding mode controller, the precision and the speed of pose error convergence are improved, and the robustness of the system is improved. The negative influence of buffeting is effectively suppressed, and the stability of the unmanned autonomous underwater robot in the subsea pipeline monitoring process is improved.

The present disclosure relates to the technical field of power control, and provides a micro-grid finite time control method and device with an event triggering mechanism, comprising: establishing a micro-grid system model containing multiple distributed power sources; for each distributed power source, determining the frequency tracking error and state estimation error corresponding thereto based on its real-time frequency state data; and determining whether the event triggering condition is met according to the frequency tracking error and state estimation error; in response to any distributed power source meeting the event triggering condition, generating the finite time cooperative control law of each distributed power source based on the control update data of each distributed power source received when the event triggering condition is met, and generating the control instruction corresponding thereto according to the control instruction, and performing finite time frequency recovery control on the distributed power source based on the control instruction. The present embodiment effectively improves the dynamic performance and operation robustness of the power system by introducing the event triggering mechanism and designing the finite time cooperative control law.

The application provides a fan system finite time control method based on load prediction, and relates to the field of fan motor control. In the method, the fan system is driven by a BLDC motor, a torque control mode is adopted, and a required torque control signal is obtained by a microprocessor. The control method is based on the air volume change detected at an air outlet and the speed of the motor, and the load of an air duct is estimated in real time through an established air duct model to perform high-performance air volume control. The fan motor system can dynamically adapt to various environments, and the rapid response and control precision of the fan can be ensured under different air volume intervals and external environments. The fan system finite time control method based on load prediction dynamically adapts to different environmental static pressure conditions, the parameters of a static pressure identification model and a load prediction model in the microprocessor are adjusted, and accurate air volume control in multiple scenes is realized.

The application provides a limited time cross-domain aircraft cluster formation control method based on a neural network, relates to the field of aircraft control, and specifically comprises the following steps: a unified nonlinear non-strict feedback system is established according to the dynamic characteristics of cross-domain aircraft in different domains; real-time flight states and position information of a plurality of followers are collected; an improved Tan-type nonlinear mapping function is designed, the initial output constraint type of the system is identified, and new variables without constraints are obtained; a double neural network combining a shared network and a dedicated network is constructed, a backstepping method combined with a switching function and a non-singular fast limited time control strategy are designed, and the output of the double neural network structure is controlled; and a switching threshold event triggering mechanism is designed, so that the UAV cluster has different responses in different environments. The technical scheme of the application overcomes the problem that the formation control method in the prior art does not consider mode switching, dynamic coupling and collaborative consistency in cross-domain cooperation.

The application discloses a control method of a high-speed maglev train overlapping suspension system, and relates to the technical field of suspension system control. The method comprises the following steps: decoupling the overlapping suspension system based on a constructed multi-degree-of-freedom coupled dynamics model, and constructing a target extended state observer for each single-point suspension subsystem after decoupling; the target extended state observer adopts a smooth nonlinear function as a nonlinear feedback item, and estimates the system state and total disturbance in real time according to the suspension gap error; based on the non-singular terminal sliding mode control theory, a sliding mode surface containing a nonlinear power term is designed, and a finite time control law is constructed according to the sliding mode surface, the estimated value of the total disturbance and a disturbance derivative compensation item, so as to generate a composite control voltage and apply the composite control voltage to both ends of an electromagnet to control the suspension gap. The method has strong robustness, fast response speed and good engineering realizability, and significantly improves the steady-state accuracy, dynamic stability and anti-interference ability of the maglev train under high-speed running conditions.

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

The invention discloses a continuous stirring reaction kettle finite time control method based on an event triggering mechanism, and relates to the technical field of continuous stirring reaction kettle process control. According to the method, dead zone characteristics of an actuator are considered, and a nonlinear dynamic model of the continuous stirring reaction kettle is established; based on a semi-bounded condition, converting the system model into a pseudo-affine form to simplify the design of a controller; and designing a finite time preset performance function and an error conversion function to constrain transient and steady-state performance of the tracking error. According to the method, the strong nonlinearity characteristic of the CSTR is fully considered, and precise modeling of the actual reaction process is realized through strict variable conversion and dynamic derivation; meanwhile, the coupling influence of dead-zone input limitation and preset performance limitation on an event triggering mechanism is included, a control law is constructed in combination with an adaptive technology, unknown parameters and external interference of the system can be effectively compensated, and preset performance requirements can be accurately met in complex scenes such as dead-zone input.

The application discloses a kind of air intelligent body fixed time stable guidance method, device, medium and equipment for ground mobile target, belong to the field of guidance control technology.The method establishes ground, line of sight and channel coordinate system and its conversion matrix, establishes the relative dynamics and kinematics equation of intelligent body and target;Analysis system uncertainty and strapdown seeker field of view angle constraint, establish the guidance model considering lumped disturbance and view angle constraint, convert field of view angle constraint into the asymmetric constraint of state variable;Adaptive strategy is used to deal with uncertainty, and a fixed-time stable guidance law is designed based on logarithmic barrier lyapunov function, to ensure that the system converges within a fixed time under any initial condition.The present application solves the problems of slow convergence of existing proportional guidance and dependence on initial value of finite time control, realizes rapid and accurate attack on mobile target, and improves system robustness.