9 results about "Nonlinear observer" patented technology

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 application discloses a kind of failure detection method and system of petroleum refining plant sensor, belong to sensor detection technical field;The sensor to be detected of petroleum refining plant is represented using partial differential equation model, and the nonlinear observer of the sensor to be detected is constructed based on the partial differential equation model of the sensor to be detected;Its output is observed by observer, and failure detection is carried out based on the detection residual between observation value and corresponding actual output;The nonlinear observer constructed can cope with the multiple-input multiple-output situation with position interference, and it satisfies that detection residual is ultimately bounded under the condition that the sensor to be detected is healthy, it is easy to determine the preset threshold for failure judgment based on detection residual, and it is also unnecessary to reduce order partial differential equation model to ordinary differential equation for solving, avoid false alarm and miss report situation possibly caused by model reduction, can accurately carry out failure detection to petroleum refining plant sensor.

The invention relates to a differentiator construction method and device, a nanometer positioning system and computer equipment. Acquiring a virtual controlled system driven by virtual disturbance and a linear Luenberger observer constructed based on the virtual controlled system; performing disturbance state expansion on the virtual controlled system to construct an expansion state observer; performing disturbance estimation on the virtual disturbance based on an extended state observer, and constructing a disturbance compensation item; non-linear processing is carried out on the linear Luenberger observer, and a non-linear observer is constructed; performing disturbance compensation on the nonlinear observer according to the disturbance compensation item to obtain a target differentiator; and collaborative optimization between the estimation precision and the noise suppression capability can be realized based on the target differentiator.

The invention relates to the technical field of motion control, and discloses a motion control method and system for an ambulance boat launching and recovery device and a storage medium, and the method comprises the steps: carrying out the time-space fusion of multi-source perception data, and obtaining environment state estimation and motion state estimation; performing on-line monitoring analysis on the surrounding environment to obtain a real-time sea condition identification result; performing adaptive adjustment on control parameters of the nonlinear observer and the robust controller to obtain optimized control parameters; performing robust control based on the optimal control parameters and a preset task path to obtain a motion control instruction; based on the motion control instruction, executing laying or recovery operation, and feeding back the operation state of the ambulance boat in real time in the laying or recovery operation process; based on the operation state, the motion control instruction is dynamically adjusted, so that the stability of the rescue boat during laying or recovery operation is ensured; according to the invention, the efficiency of the motion control method of the rescue boat launching and recovery device can be improved.

The invention provides a self-adaptive robust control method of an energy-saving forklift pump control steering system, and belongs to the technical field of electro-hydraulic servo control. The self-adaptive robust control method comprises the steps that a mathematical model of the energy-saving forklift pump control steering system is established; based on the mathematical model of the pump control steering system, designing a nonlinear disturbance observer, estimating disturbance of the system and compensating the disturbance; and designing an adaptive robust controller based on the mathematical model of the pump control steering system and the nonlinear observer. Precise observation of steering resistance is realized through a nonlinear disturbance observer, uncertain parameters are dynamically tracked in combination with a parameter projection adaptive law, a composite control strategy of parameter adaptive and robust items is adopted, parameter changes are actively adapted, dependence on strong gain adjustment is not needed, system buffeting is reduced, and control flexibility and practicability are improved.

The application discloses a kind of based on passive network type inverter station distributed collaborative control method, belong to electrical engineering field.The distributed collaborative control method is designed to the inner loop controller of network type inverter by using port controlled Hamilton method, and the stability of new energy station is guaranteed by introducing nonlinear observer, in addition, the ideal injection damping parameters of each network type inverter under different power grid states are determined by using pole placement method, and the dynamic performance of network type inverter station is improved.The application is not only simple to implement, but also solves the problem that the overall dynamic performance of the station is difficult to be considered under the traditional passive control of the inverters in the network type inverter station scene with multiple inverters, effectively improving the dynamic performance of the inverter station under complex power grid changes.

The purpose of this invention is to provide a device and method for predicting the remaining life of a hybrid fuel cell based on a nonlinear observer, belonging to the field of marine hybrid power. The fuel cell remaining life prediction method of this invention includes the following steps: S1: The marine hybrid power system composed of a fuel cell and a battery adopts a fully active control architecture. The fuel cell and its converter adopt power closed-loop control, and the battery and its converter adopt voltage-current dual closed-loop control; S2: Collect the fuel cell output current and bus voltage; S3: Design a nonlinear observer to estimate the fuel cell degradation factor; S4: Calculate the remaining life based on the relationship between the fuel cell degradation factor and the remaining life; S5: Calculate the maximum output current of the fuel cell based on the fuel cell degradation factor and transmit it as a control constraint to the fuel cell controller. This invention does not require additional sensors, the algorithm is simple to implement and highly versatile, and it is of great significance for the control and monitoring of hybrid power systems.

The application provides a fault-tolerant control method for actuator failure of a municipal sewage treatment process, and realizes stable control of dissolved oxygen concentration and nitrate nitrogen concentration of the municipal sewage treatment process under the influence of actuator failure. First, a nonlinear observer is designed to accurately estimate actuator failure. Second, a radial basis function neural network is constructed to accurately characterize the time-varying nonlinear dynamic characteristics of the sewage treatment process. A fault-tolerant controller based on adaptive dynamic programming is designed, an evaluation network and an execution network are constructed, and a policy iteration algorithm is used to train the neural network, so as to solve an approximate optimal control law, and the prior classical controller is fused to jointly solve the problem that the dissolved oxygen concentration and the nitrate nitrogen concentration deviate from the set value caused by the actuator failure. Experimental results show that the method can realize fault-tolerant control of the dissolved oxygen concentration and the nitrate nitrogen concentration, and ensure stable operation of the municipal sewage treatment process.

The application discloses a spacecraft formation event-triggered attitude coordination control method considering communication time delay, comprising the following steps: according to the communication topology structure of a spacecraft formation system, an attitude dynamics model of the spacecraft formation is established, which can consider external disturbance, model uncertainty and communication time delay; based on the attitude dynamics model, a nonlinear observer is constructed, which can observe the collective nonlinear term of the spacecraft formation system; based on the nonlinear observer, an event-triggered attitude coordination control law and an event-triggering mechanism are designed; according to the event-triggered attitude coordination control law, the attitude and angular velocity of the formation spacecraft are controlled, and according to the event-triggering mechanism, it is determined whether the corresponding event-triggered attitude coordination control law of the formation spacecraft needs to be updated and whether the state information of the formation spacecraft needs to be sent to the adjacent formation spacecraft. The application can consider the influence of disturbance, uncertainty and communication time delay, save the energy, communication and computing resources of the system while ensuring good control performance.