14 results about "Finite time control" patented technology

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 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 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.

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 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 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 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 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.

This invention provides a finite-time control method for a pulse-switched positive system based on an event-triggered mechanism. The method includes constructing a pulse-switched positive system with nonlinear and disturbance terms, applying sector constraints to the nonlinear terms and boundedness constraints to the disturbance terms; defining the switching signal in the pulse-switched positive system based on the average dwell time; defining the event-triggered error of the pulse-switched positive system to design the event-triggered mechanism and event-triggered controller; solving for the construction parameters given linear matrix inequalities and reconstructing the switching signal and event-triggered controller; and using the reconstructed switching signal and event-triggered controller to perform closed-loop control of the pulse-switched positive system to achieve finite-time bounded control. Implementing this invention solves the problems of overly complex event control mechanisms and performance degradation caused by the combined effects of pulses and external environmental disturbances.

This application discloses a servo motor control method and related equipment, relating to the field of automatic control technology. The method includes: acquiring the current motor state and tracking error corresponding to the servo motor; calculating the total disturbance value using a preset disturbance observer to obtain a disturbance estimate; calculating the equivalent control input using a preset sliding mode controller; calculating the finite-time control input based on a preset finite-time control strategy; and controlling the servo motor based on the finite-time control input and the equivalent control input. This application treats the unknown load disturbance and frictional nonlinearity in the system as a unified "lumped disturbance" and designs an adaptive observer based on a radial basis function neural network to estimate this lumped disturbance online in real time. Then, this estimate is introduced into the control law as a feedforward compensation quantity, thereby actively offsetting the influence of the disturbance on the system without relying on a specific mathematical model of the disturbance or a known upper bound, fundamentally improving the system's anti-interference capability and control accuracy.