7 results about "Lyapunov theorem" patented technology

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 discloses a kind of high-precision stable control methods for industrial metal gallium electrolytic deposition process temperature, comprising: the dynamic mechanism model of metal gallium electrolytic process temperature is established, and the steady-state temperature of electrolytic process is solved;Collect metal gallium electrolytic process temperature control input and temperature output data, and construct input-output data set;According to the preset mechanism enhancement proportion, replace several data points of original output data set with steady-state temperature value, and obtain mechanism-enhanced output data set;Using mechanism-enhanced output data set and original input data set, a subspace identification method is used to obtain a temperature prediction model;According to Lyapunov theorem, the stable solution of control quantity is solved, and the objective function of asymptotically stable model predictive control is constructed using the temperature prediction model;And under the premise of meeting the system constraint condition, the optimal control quantity sequence of temperature is solved by rolling optimization.The application can efficiently and stably control the temperature of metal gallium electrolytic deposition process.

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 discloses a kind of communication link perception multi-agent dynamic event trigger consistency methods, comprising S1: the communication network topology graph of information exchange between multi-agent is established;S2: determine the dynamics equation of multi-agent system;S3: introduce adaptive control, design complete distributed consistency control input strategy based on event trigger;S4: the solution of algebraic riccati equation obtains feedback gain matrix;S5: based on Lyapunov theorem and channel capacity parameter, design communication link perception dynamic event trigger control strategy;S6: reach multi-agent consistency by complete distributed control input strategy and communication link perception dynamic event trigger control strategy;The communication link perception dynamic event trigger mechanism of the application is completely distributed, through adaptive coupling gain, control input adaptive adjustment, without relying on global information related to network topology, realize and apply in large networked multi-agent system.

The invention discloses a synchronous tracking control method for a multi-motor driving system based on adjacent cross coupling, which comprises the following steps of: firstly, establishing a multi-motor driving system dynamic model containing backlash nonlinearity and external disturbance, and designing a finite time disturbance observer to estimate the total disturbance of the system; a tracking controller is designed by combining a first-order command filter based on the thought of a backstepping method, the problem of differential explosion is eliminated, tracking errors are constrained by using a finite time preset performance function, transient performance and finite time convergence of the tracking errors are ensured, and an adjacent cross-coupling control strategy is adopted, so that the tracking precision is improved. And a hyperbolic function is introduced to adjust synchronous control input, and a self-adaptive adjacent cross-coupling synchronous controller is designed, so that the actual control input of each motor is the sum of the mean value of tracking control input and the synchronous control input of the motor. According to the method, the coupling influence between synchronization and tracking is reduced, rapid synchronization among multiple motors is realized, and finally, the stability of the system is proved by using the Lyapunov theorem.

The invention discloses a high-precision stable control method for temperature in an industrial metal gallium electrolytic deposition process, which comprises the following steps: establishing a dynamic mechanism model of the temperature in the metal gallium electrolytic deposition process, and solving the steady-state temperature in the electrolytic process; collecting temperature control input and temperature output data in the metal gallium electrolysis process, and constructing an input and output data set; according to a preset mechanism enhancement proportion, a plurality of data points of the original output data set are replaced with the steady-state temperature values, and a mechanism-enhanced output data set is obtained; using a mechanism to enhance the output data set and the original input data set, and adopting a subspace identification method to obtain a temperature prediction model; solving a control quantity stable solution according to the Lyapunov theorem, and constructing an objective function of asymptotically stable model prediction control by using the temperature prediction model; and on the premise that system constraint conditions are met, a temperature optimal control quantity sequence is solved through rolling optimization. According to the method, the temperature of the metal gallium electrolytic deposition process can be efficiently and stably controlled.

The application provides a tower crane intelligent control method and system, and relates to the technical field of mechanical control. The method comprises the following steps: establishing a motion equation of a tower crane; determining a state vector and a control vector of the tower crane in a state space in combination with the motion equation, and determining a state space motion equation based on the state vector and the control vector; determining a cost function comprising a load swing term and a load execution duration term based on the state space motion equation; determining adaptive weighting values of the load swing term and the load execution duration term in the cost function in combination with Lyapunov theorem; optimizing the cost function according to the adaptive weighting values; solving the cost function to obtain a target control vector by taking the minimized optimized cost function as a target; and controlling the tower crane according to the target control vector. The method improves work efficiency and reduces safety risks in operation.