72 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.

A spacecraft attitude preset performance control method based on an improved preset finite time function comprises the following steps: step 1, determining a control object and a control target according to a motion law of a spacecraft: designing a control law so that the control object and the control target are controlled under the influence of saturation factors of an execution mechanism; a spacecraft system attitude quaternion error vector part qev and an angular velocity error We of a spacecraft body coordinate system track an expected signal; 2, constructing a class sliding mode variable S, a self-adaptive boundary preset finite time function and auxiliary variables e and v; 3, designing a control law to enable the variable S to move in an envelope formed by a preset finite time function # imgabs0 #; and 4, checking and improving the performance of the preset finite time controller. According to the method, the problem of singularity easily occurring when an existing preset finite time control method faces internal and external interference and the problem that the angular velocity is too large in the large-angle maneuvering process are solved, meanwhile, the actual physical limitation of an executing mechanism is considered, and it can be guaranteed that higher reliability is obtained.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a UWB-based finite time unmanned aerial vehicle cooperative control method, which comprises the following steps: acquiring relative position data of an unmanned aerial vehicle; designing a virtual piloting target, and calculating the relative position expectation of each unmanned aerial vehicle at each moment; designing a finite time controller model; designing a trajectory tracking controller model; an unmanned aerial vehicle cooperative control system is divided into an outer ring and an inner ring for respective control. According to a task flight planning application data structure, it is guaranteed that a certain distance is kept during cooperation of multiple unmanned aerial vehicle formations, nonlinear control convergence of relative trajectory errors is achieved by designing a finite time controller, the unmanned aerial vehicles are controlled to be converged to be kept at the relative distance within set time, and the unmanned aerial vehicle formations are controlled to be coordinated. Therefore, formation operation in a complex scene is realized. According to the invention, the unmanned aerial vehicle can quickly reach a task target area and realize formation keeping or changing in finite time, and task development is supported.

The invention provides a mobile robot safety control method under a sequential logic and disturbance observer, relates to the technical field of robot safety control, establishes a novel high-order finite time barrier function control method with disturbance, and realizes mobile robot control under a sequential logic task. Under the condition that interference needs to be considered in a robot system and the relative order of a control obstacle function is a high order, an interference observer is constructed to solve the interference of the system, and a high-order interference observer control obstacle function is proposed to guarantee safe obstacle avoidance. Meanwhile, in order to encode complex task specifications, a control framework based on signal sequential logic is provided. In order to achieve the purpose, subsequent control design is carried out.

The invention discloses a finite time output synchronization method for a heterogeneous generator system based on pulse control. The method comprises the following steps: firstly, designing a finite time controller based on pulse control for a generator system with heterogeneous characteristics; and then, by virtue of a finite time stability definition established by a differential inequality with a pulse effect based on a Lyapunov functional, a global Lipschitz condition and an inequality property, obtaining sufficient and necessary conditions for realizing finite time output synchronization, and realizing synchronization of a generator system network. A finite time stability definition established by a differential inequality with a pulse effect is used for estimating different pulse times and the number of pulses under an initial value, so that stable time estimation is obtained. When the method is applied to a heterogeneous generator system, the stabilization time of the system for realizing output synchronization is reduced, and the power supply efficiency of the generator is improved.

The present invention discloses a finite-time control method for consistent tracking of a multi-link robotic arm. The method comprises the following steps: first, modeling actuator failures, and then establishing an uncertain multi-link robotic arm system model with actuator failures and full-state constraints. Next, a finite-time stable event-triggered control method is designed based on barrier Lyapunov functions, backstepping design, and neural network adaptive control technology. Finally, the proposed control method is simulated. The simulation results show that when an actuator failure occurs, each robotic arm can effectively track the leader's trajectory, with minimal tracking error and stability within the specified time, while also effectively saving communication resources.

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 present invention discloses a finite-time tracking control method applicable to lane-changing warning of a four-wheel mobile robot, constructs a dynamic model of the four-wheel mobile robot; constructs a minimum-distance warning model according to the dynamic model, and uses the machine learning GMM-HMM method, combined with the minimum-distance warning model, to obtain a lane-changing warning safety algorithm for the four-wheel mobile robot, realizing safety warning during the lane-changing process of the mobile four-wheel mobile robot; constructs a finite-time controller for the four-wheel mobile robot with time-varying constraints; determines whether there is danger in lane-changing according to the lane-changing warning safety algorithm of the four-wheel mobile robot, and if so, executes the finite-time controller, and realizes the finite-time stability of the four-wheel mobile robot under this finite-time controller. The present invention realizes that both the sideslip angle of the center of mass and the yaw angular velocity can be constrained in a stable interval during the lane-changing process of the four-wheel mobile robot, and the tracking error of the finite-time controller will not break through the time-varying constraints.

The invention provides an angular velocity measurement-free under-actuated spacecraft attitude hybrid finite time control method based on a layered sliding mode, and the method comprises the steps: employing a w-z parameter kinematic model suitable for an incomplete system, decoupling an under-actuated axis from the other two axes, and carrying out the deduction to obtain a south-north pole projection switching relation of w1 and w2, and a switching kinematic model; an improved self-adaptive second-order sliding mode observer is designed for the situation that the spacecraft has no angular velocity measurement, and anti-unwinding control of the spacecraft is achieved through hybrid control and a lagging strategy. The finite time stability of the designed control law is proved through the finite time convergence theorem and the Lyapunov theorem, and the effectiveness and superiority of the designed control law are verified through numerical simulation.

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.

The invention discloses a bolt fastening torque estimation and control method without a torque sensor, which relates to the technical field of motor control and comprises the following steps of: modeling a bolt fastening system under an uncertain condition, and establishing a dynamic model containing time-varying parameters; based on motor current and rotating speed information which can be obtained in a bolt fastening system, a non-smooth torque observer is designed in combination with a kinetic model and is used for estimating the fastening torque of a bolt, and reliable feedback is provided for subsequent control; according to the fastening torque estimation value, a finite time control algorithm is designed in combination with a homogeneous technology and a power integration technology, and the finite time control algorithm is used for adjusting the estimated fastening torque in real time; carrying out stability analysis by utilizing a Lyapunov theory; and the gain parameter of the finite time control algorithm is adjusted, so that the obvious advantages in the aspects of control precision and anti-interference capability are ensured. According to the invention, the hardware dependence is reduced, the stability and reliability of the system are improved, the complexity and hardware cost of the system can be obviously reduced while the measurement precision is maintained, and the application requirements in a high-altitude or severe environment are met.

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 application relates to a kind of event-triggered hypersonic vehicle finite time control method and system, by constructing the attitude system model of hypersonic vehicle facing control, event-triggered strategy is designed, and internal dynamic variable matching convergence characteristic and sliding mode variable is established in event-triggered strategy;According to angle tracking error and approach law, a fast finite time controller is constructed by using fast finite time control method;According to event-triggered strategy and fast finite time controller, event-triggered finite time controller is constructed;Real-time error information of aircraft is obtained, and the error information is input into event-triggered finite time controller for calculation to obtain attitude control input;The attitude angle of aircraft is adjusted and controlled through attitude control input, the problem of designing strong robust and low resource consumption control system for hypersonic morphing aircraft is solved, and the characteristics of faster tracking speed, higher tracking accuracy and lower resource consumption are possessed.

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.

The invention discloses a self-adaptive finite time command filtering control and simulation method for an uncertain nonlinear system, which relates to the field of nonlinear system stability and finite time control, and comprises the following steps of: firstly, establishing a novel actual finite time stability criterion as a theoretical basis of finite time control design; secondly, converting an original constrained nonlinear system into an unconstrained system through nonlinear mapping; and thirdly, a finite time adaptive control scheme based on a command filter is provided by utilizing an established actual finite time stability criterion and a command filtering technology. According to the method, the excellent tracking performance is ensured while the full-state constraint is strictly expanded, all system signals are kept stable in actual finite time, and the effectiveness of the proposed control strategy is further verified through final stability analysis and simulation.

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 provides an electro-hydraulic servo system active control method based on finite time control. According to the method, an error boundary is dynamically constrained through a time-varying obstacle Lyapunov function, and a backstepping recursion control architecture and a fractional order convergence item are combined, so that the convergence speed and the anti-interference capability of the system are remarkably improved, and the overshoot problem and the chattering phenomenon of PID control are effectively suppressed; a feedforward compensation and self-adaptive disturbance observation mechanism is designed aiming at the nonlinear characteristic and anti-interference performance problems of the electro-hydraulic servo system, the stability can still be quickly recovered under strong external disturbance, and the accuracy and robustness of control force output are ensured; a scaling experiment platform is constructed based on a similarity criterion, the engineering universality of a control strategy is verified, and an efficient, reliable and easy-to-deploy solution is provided for anti-seismic control of a complex structure.

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.