28 results about "Nonlinear saturation" patented technology

The invention provides a hydrofoil ship longitudinal motion attitude control method, system and device and a storage medium, and belongs to the field of ship control strategies, and the method comprises the following steps: designing an improved fractional order fast terminal sliding mode controller according to a fractional order theory and a sliding mode control theory; designing a fractional-order nonlinear interference observer by considering external sea wave interference; a nonlinear saturation compensator is designed by considering the saturation condition of an actuating mechanism of the hydrofoil ship; estimating external interference factors and uncertainty factors by using a fractional-order nonlinear interference observer, inputting estimated values of the external interference factors and the uncertainty factors into the controller, designing a sliding mode surface with interference estimation, and compensating saturation of an execution mechanism by using a nonlinear saturation compensator to obtain an optimized fractional-order fast terminal sliding mode controller; according to the method, the optimized fractional order fast terminal sliding mode controller is used for controlling the longitudinal motion attitude of the hydrofoil ship with interference and saturation of the executing mechanism, and the control precision can be improved.

The invention relates to the technical field of permanent magnet motor rotor structure optimization, and particularly discloses a permanent magnet motor rotor structure topological optimization method considering the nonlinear saturation characteristic of a ferromagnetic material, and the method comprises the steps: S101, carrying out the initial parameterization and meshing optimization of a design region variable; s102, determining the performance of the actual operation condition point of the permanent magnet motor load; s103, carrying out finite element analysis on an electromagnetic field and a mechanical field of the permanent magnet motor; and S104, carrying out iterative analysis on the magnetic conductivity of the nonlinear saturated ferromagnetic material, judging whether a result is converged or not, if the result is converged, entering the step S105, otherwise, returning to the step S103, and the like. The weight of the rotor of the permanent magnet motor is effectively reduced through a lightweight design result, the lightweight design of the rotor of the permanent magnet motor is realized while the mechanical and electromagnetic properties are ensured, and a design reference for actual production and manufacturing is provided for the weight reduction design of a rotor region of a permanent magnet region.

The invention relates to the technical field of laser control, and discloses a laser control method and device for an ultra-pulse thulium-doped fiber laser operation system, and the method comprises the steps: generating a PWM time-base waveform through an FPGA, and generating a reference duty ratio instruction based on a target pumping current value; the total response delay time of the acousto-optic modulator is calculated, the FPGA sends a trigger pulse to the acousto-optic modulator according to the total response delay time, the gated modulation laser is output to the optical fiber output end to obtain an analog voltage signal, and the analog voltage signal and the numerical value of the target power register are used for calculating a duty ratio correction increment; the duty ratio correction increment and the reference duty ratio instruction are updated to a duty ratio register of a PWM time base waveform, and multiple paths of pump cooperative driving waveforms are output. The technical problems of pump current response lag, acousto-optic modulator triggering jitter and optical power nonlinear saturation in an ultra-pulse thulium-doped fiber laser operation system are solved; and the laser pulse energy stability, the response speed and the long-term reliability are improved.

The invention relates to the technical field of unmanned vehicle control, and discloses an unmanned vehicle control algorithm with an emergency obstacle avoidance function, which comprises the following steps: acquiring a transverse deviation between a current attitude of a vehicle and an obstacle avoidance target trajectory, and determining an error flux according to a product of a first derivative of the transverse deviation and a curvature change rate of the obstacle avoidance target trajectory; converting the error flux into a gain adjustment factor based on a preset nonlinear mapping function, and performing real-time weighted weakening on a proportional gain and a differential gain in a steering closed-loop control loop, so that a steering actuator is in a controlled under-gain state in an obstacle avoidance cut-in stage; after the error flux falls back to the physical linear threshold value, feedback gain is recovered according to the energy recovery curve, physical matching of the control rigidity and input sudden change is achieved, the nonlinear saturation risk of an actuator is avoided, and the loop stability of a control system under the extreme working condition is guaranteed.

The application belongs to the field of power equipment, and discloses a transformer inter-turn short-circuit fault modeling method, system, device and medium, which comprises the following steps: a two-dimensional geometric model of a transformer core and winding is established, the two-dimensional geometric model is discretized and divided into a plurality of magnetic network units to obtain a discrete magnetic network model; a three-dimensional electrostatic field entity model of the winding is constructed, and a distribution capacitance matrix between turns of the winding and to the ground is calculated; a short-circuit grid point is set in the discrete magnetic network model, the short-circuit grid point is connected in parallel to a metallic short-circuit branch model to obtain a short-circuit closed branch; a transformer circuit is obtained, a coupling relationship between the transformer circuit and the discrete magnetic network model is constructed based on the distribution capacitance matrix, and a transformer inter-turn short-circuit fault model is constructed. The application can accurately describe the internal space electromagnetic distribution characteristics and the local nonlinear saturation characteristics of the core of the transformer.

The invention belongs to the technical field of cooperative control, and relates to a multi-target cooperative control method and device, and the method comprises the steps: constructing a saturation pulse controller of each to-be-controlled target through a nonlinear saturation function; constructing a state-space equation of each to-be-controlled target so as to obtain a synchronous target state equation of the cooperative control system; the method comprises the following steps of: constructing an initial state solving model of a to-be-controlled target by aiming at converging an initial state variable of each to-be-controlled target to a synchronous target state under the control of a saturation pulse controller of the to-be-controlled target, thereby solving to obtain an initial state maximum value of the to-be-controlled target and a maximum gain of the saturation pulse controller; setting an initial state variable of each to-be-controlled target and a gain of each saturation pulse controller; and inputting the real-time state variables of each to-be-controlled target and the adjacent to-be-controlled target into each saturation pulse controller to control each to-be-controlled target, so that the state of each to-be-controlled target reaches a synchronous target state to realize multi-target cooperative control.

The present invention belongs to the technical field of collaborative control and relates to a multi-objective collaborative control method and device, which utilizes a nonlinear saturation function to construct a saturated pulse controller for each target to be controlled; constructs a state space equation for each target to be controlled, thereby obtaining a synchronous target state equation of the collaborative control system; takes the initial state variables of each target to be controlled to converge to the synchronous target state under the control of its saturated pulse controller as the goal, constructs an initial state solution model for the target to be controlled, thereby solving and obtaining the initial state maximum value of the target to be controlled and the maximum gain of the saturated pulse controller, and sets the initial state variables of each target to be controlled and the gain of each saturated pulse controller; inputs the real-time state variables of each target to be controlled and adjacent targets to be controlled into each saturated pulse controller, thereby controlling each target to be controlled so that the state of each target to be controlled reaches the synchronous target state, thereby realizing multi-objective collaborative control.

This invention relates to the fields of digital marketing technology and artificial intelligence optimization technology, and particularly to a method and system for joint budget allocation and ROI optimization of cross-platform advertising expenditures. It addresses the channel contribution assessment bias caused by traditional "last click" attribution through the Shapley value attribution model; it achieves quantitative prediction of inter-channel synergy and crowding-out effects by constructing a joint prediction model using nonlinear saturated response functions and cross-influence coefficients; it overcomes budget inefficiencies caused by independent optimization on a single platform through global optimization solutions using nonlinear programming and sequential quadratic programming algorithms; and it ensures the safe implementation of automated decision-making through safety executors and anomaly circuit breakers. This method elevates advertising budget allocation from a "local, static, and biased" level to a "global, dynamic, and scientific" level, significantly improving the overall advertising ROI by an estimated 15%-30%.

The invention relates to the technical field of process safety and explosion prevention, in particular to a graded explosion suppression-explosion venting control method and system based on dynamic pressure characteristics. The method comprises the steps of information collection and preprocessing, dynamic feature extraction, feature parameter normalization, dynamic weight distribution, comprehensive risk index calculation, execution of a corresponding grading response strategy and degradation and revocation control. Through multi-feature fusion, a dynamic weight, a nonlinear saturation function and a hierarchical trigger mechanism with hysteresis, the explosive risk assessment is fundamentally converted from static and single states to dynamic and comprehensive states, and the prevention and control response spans from isolation and extensive states to collaborative and fine states. Finally, an intelligent explosion-proof system which is high in sensitivity, low in false alarm rate, self-adaptive and reversible is constructed, and the safety protection level of the combustible gas container under various complex working conditions is remarkably improved.

The application provides a flexible connecting rod mechanical arm control method based on an adaptive finite time disturbance observer. The method comprises the following steps: establishing a single connecting rod flexible mechanical arm dynamic equation according to the structure of a single connecting rod mechanical arm system, mathematically modeling a nonlinear saturation tracking signal in input control in the single connecting rod flexible mechanical arm dynamic equation, and constructing a single connecting rod flexible mechanical arm system model containing actuator saturation; constructing a radial basis function neural network according to state variables of the single connecting rod mechanical arm system; designing an adaptive finite time disturbance observer to estimate external disturbance in the single connecting rod mechanical arm system; constructing a composite anti-interference controller according to the output of the radial basis function neural network and the adaptive finite time disturbance observer, and controlling the single connecting rod flexible mechanical arm system by using the composite anti-interference controller. The application solves the adverse effects caused by actuator saturation, finely compensates for disturbance, and realizes stable control of the single connecting rod flexible mechanical arm system.

The application discloses a kind of constant temperature controllable load regulation and control method and system based on multi-agent control, comprising: the performance parameter and refrigeration performance index of each constant temperature controllable load in large-scale constant temperature controllable load cluster are collected, and the thermodynamic model corresponding to the room where each constant temperature controllable load is located is constructed, the large-scale constant temperature controllable load cluster is defined as multi-agent system, and control framework and communication model for controlling multi-agent system through aggregator are established, nonlinear consistency controller is constructed according to preset constant temperature controllable load state variable calculation method, nonlinear saturation consistency algorithm, relay node state update model and fallback mechanism, the initial state of the large-scale constant temperature controllable load cluster is obtained, according to the initial state and the thermodynamic model, the nonlinear consistency controller is regulated and controlled, for realizing the unified regulation of large-scale constant temperature controllable load.

The invention discloses a preparation method and application of a wafer-level palladium ditelluride-palladium diselenide vertical heterojunction thin film for a nonlinear saturable absorber. The structure of the material sequentially comprises a palladium ditelluride thin film and a palladium diselenide thin film from top to bottom, and the wafer-level two-dimensional palladium ditelluride-palladium diselenide thin film vertical heterojunction is prepared by adopting a chemical vapor deposition technology assisted by electron beam evaporation coating. Experimental results show that the nonlinear absorption performance of the obtained heterojunction thin film is superior to that of a single palladium ditelluride thin film in a visible wave band of 550 nm; in the near-infrared band of 1550 nm, the modulation depth can reach 31.92%, and the wide-spectrum response characteristic from the visible band to the near-infrared band is shown. The material obtained by the invention has the advantages of controllable wafer-level growth, excellent nonlinear performance, wide operating wavelength range and the like, provides important material strategy and theoretical support for the design of ultrafast photonic devices such as high-performance mode-locked lasers and all-optical switches, and has important application value.

The present invention provides an engineering implementation method for a state augmented robust controller for a fast reflector, comprising: determining the acceleration saturation limit of a voice coil motor by experimentally inputting excitation signals of different frequencies and amplitudes in combination with a dynamic response curve of a sensor; dynamically configuring the position of a dominant pole: adjusting the real and imaginary parts of the dominant poles through iterative simulation based on the acceleration saturation limit, so as to maximize the dynamic bandwidth of the fast reflector system while avoiding nonlinear saturation; designing a state augmented robust controller: combining a servo compensator and a stabilizing compensator to construct a state feedback control law, obtaining full state information through a state observer, and realizing pole configuration and disturbance suppression of the fast reflector closed-loop system; simplifying the high-order transfer function of the state augmented robust controller into a series combination including a proportional integral, a notch filter, and a lead link through zero-pole cancellation and similar position matching, and verifying the consistency with the control performance through joint simulation.

The application relates to the technical field of micro-grid monitoring, and particularly discloses a micro-grid monitoring method and system based on coordinated control and security protection linkage, which comprises the following steps: collecting spatial arrangement parameters, control parameters and time sequence operation data flow of micro-grid equipment, and establishing a topological model; selecting a cooperative node that is strongly coupled with a key monitoring point, extracting a state characteristic vector representing system behavior, and completing similarity calculation to determine a candidate associated event pair originating from the same disturbance or control process; determining an effective associated event pair through double verification, and forming a disturbance propagation event chain in time sequence; analyzing node response signals to obtain a linear response growth rate and a nonlinear saturation strength parameter; dividing a cooperative treatment unit according to a state trend judgment result, and applying fine-grained coordinated control to a unit containing a risk operation point. The method realizes full-process monitoring of multi-dimensional perception, dynamic evaluation and targeted optimization of the micro-grid, and improves dynamic stability and anti-disturbance robustness of the micro-grid.

This invention discloses a method for identifying the linear growth rate of combustion instability, comprising: establishing a stochastic dynamics model of the combustion system; constructing an identification model based on the stochastic dynamics model of the combustion system; and identifying the linear growth rate, nonlinear saturation coefficient, and noise intensity of the combustion system based on the identification model. This invention aims to solve the problem in traditional methods where the changes in the linear growth rate, nonlinear saturation coefficient, and noise intensity cannot be identified from the data when the units of the experimental data are transformed.

The invention provides an engineering implementation method of a fast reflector state augmentation robust controller, which comprises the following steps of: inputting excitation signals with different frequencies and amplitudes through experiments, and determining an acceleration saturation limit of a voice coil motor in combination with a dynamic response curve of a sensor; dynamically configuring the position of a dominant pole: based on the acceleration saturation limit, adjusting a real part and an imaginary part of the dominant pole through iterative simulation, so that the dynamic bandwidth of the fast reflector system is maximized on the premise of avoiding nonlinear saturation; designing a state augmentation robust controller: constructing a state feedback control law in combination with a servo compensator and a stabilization compensator, obtaining full-state information through a state observer, and realizing pole assignment and disturbance suppression of a fast reflector closed-loop system; and a high-order transfer function of the state augmentation robust controller is simplified into a series combination containing proportional integral, notch filtering and an advanced link through pole-zero cancellation and similar position matching, and the consistency with control performance is verified through joint simulation.

The invention discloses a laser frequency locking method and device with a wide working temperature range, and belongs to the field of atomic physics, quantum optics and precision measurement. The method comprises the following steps: up-converting an initial atomic spectrum signal into a high-frequency atomic spectrum signal by using a modulation method; a down-conversion mixer is used as a demodulator, reference signal input is an amplified high-frequency atomic spectrum signal, local oscillation signal input is a modulation signal, and intermediate frequency signal output is an error signal for frequency locking; the amplifier has relatively high gain and a 1dB compression point, and can still amplify the amplitude of a high-frequency atomic spectrum signal to be higher than the 1dB compression point of the frequency mixer when the initial atomic spectrum signal is changed due to the change of the environment temperature, at the moment, the down-conversion frequency mixer works in a nonlinear saturation region, and the output of an intermediate-frequency signal does not change along with the amplitude of a reference signal; and the size of the error signal does not change along with the fluctuation of the environment temperature, so that laser frequency locking in a wide working temperature range is realized. The invention has the advantages of circuit simplification, cost saving, device size reduction, power consumption reduction and the like.

The invention discloses a permanent magnet synchronous fan current loop novel exponential sliding mode control method based on a high-gain disturbance observer, and the method comprises the steps: firstly constructing a terminal sliding mode surface based on an exponential convergence characteristic, designing a corresponding control law according to the sliding mode surface, carrying out the integral continuation processing of a switching function through the control law, so as to weaken a high-frequency switching component, and carrying out the control of a current loop of a permanent magnet synchronous fan; meanwhile, a hyperbolic tangent function is introduced to construct a nonlinear saturation function, the function can effectively suppress the high-frequency buffeting phenomenon of traditional sliding mode control, and meanwhile, due to the fact that the control law avoids differential operation on an exponential function, the singularity problem in traditional terminal sliding mode control is effectively eliminated; a high-gain disturbance observer (HGDO) is introduced, and real-time observation and dynamic feed-forward compensation are performed on system parameter uncertainty and external wind speed disturbance by constructing a disturbance estimation model, so that the anti-interference capability of the system is improved.

The present invention is a method for designing a PD controller based on a spatio-temporal propagation model of malware, including Step 1: introducing time delay and reaction diffusion terms on the basis of the malware propagation model to establish a partial differential spatio-temporal propagation model of malware with a non-linear saturated incidence rate; Step 2: applying a PD controller to the uncontrolled state of the malware spatio-temporal propagation model at the equilibrium point to obtain a controlled model of the malware spatio-temporal propagation; Step 3: linearizing the obtained controlled model at the equilibrium point to obtain a relevant characteristic equation; Step 4: selecting the time delay as the bifurcation parameter to conduct stability analysis and Hopf bifurcation analysis on the controlled model of the malware spatio-temporal propagation. Finally, appropriate controller parameters are selected, and through simulation, the influence of the controller on the system is verified. The present invention can not only effectively control the position of the bifurcation point, but also has an obvious influence on the control term, with a remarkable control effect, effectively reducing the harm of malware propagation.

This application proposes a method and system for predicting the nonlinear trend of thermoacoustic oscillations based on the flame transfer function. The method includes: real-time acquisition of inlet excitation fluctuation signals and heat release rate fluctuation signals of the combustion chamber; identification of the flame transfer function (FTF) based on the inlet excitation fluctuation signals and the heat release rate fluctuation signals; phase correction of the FTF to obtain the corrected real part of the FTF reflecting the internal dynamics of the flame; determination of the linear growth rate of the combustion system; processing of the heat release rate fluctuation signals to extract the steady-state amplitude information of the heat release rate fluctuation signals and determine the nonlinear saturation intensity of the combustion system; and determining whether the current state of the combustion system tends to develop into a stable limiting-loop thermoacoustic oscillation based on the linear growth rate and the nonlinear saturation intensity, and outputting a prediction conclusion. The technical solution proposed in this application can quickly and accurately predict whether the system will develop into destructive thermoacoustic oscillations based solely on online measurable combustion data.

This invention discloses a deep learning inversion method combining generative adversarial networks (GANs) for high resistivity formations, belonging to the field of logging-while-drilling (LWD) technology in oil and gas exploration. Addressing the problems of insufficient accuracy and poor generalization performance in existing deep learning inversion methods under high resistivity formation conditions, this invention constructs a layered formation model and sample set, utilizes the XGBoost algorithm for feature selection of logging responses, builds a cGAN-MLP joint data augmentation framework, directionally generates and physically verifies high-resistivity formation samples, and expands them into the training set, and employs a BiLSTM-Transformer hybrid deep learning model for inversion, outputting parameters such as formation resistivity and boundary distance. This invention systematically solves the inversion bottleneck caused by the sparsity of high-resistivity formation samples and the nonlinear saturation of electromagnetic responses through feature optimization and data augmentation, significantly improving the inversion accuracy and generalization ability of high-resistivity formations, while meeting the real-time requirements of LWD geological steering, and is suitable for high-precision geological steering in deep and unconventional oil and gas reservoirs.

The present invention discloses a control method and device for vehicle platooning under lane keeping. The method comprises: constructing a platoon of vehicles on a road with slope and curvature; establishing a disturbed following control system for the platoon based on cooperative adaptive cruise control and lane keeping control, combined with the longitudinal and lateral dynamics of the vehicles; establishing a state feedback controller with feedforward compensation based on the acquired acceleration information of the leading vehicle and incorporating it into the disturbed following control system to obtain a platoon following model after feedforward compensation; processing nonlinear terms in the platoon following model and introducing a nonlinear saturation function to establish a saturation-constrained uncertain following vehicle prediction model; and using model predictive control technology to implement rolling optimization of performance targets based on the uncertain following vehicle prediction model to achieve longitudinal following and lateral lane keeping control of the vehicles. The present invention combines the longitudinal and lateral dynamics of the vehicles and lane keeping with cooperative adaptive cruise control on complex roads with slope and curvature to achieve safer and more stable platooning. By adopting model predictive control technology, the accuracy and timeliness of vehicle platoon following are improved.

The invention provides a method and system for predicting the nonlinear trend of thermoacoustic oscillation based on a flame transfer function. The method comprises the steps that an inlet excitation fluctuation signal and a heat release rate fluctuation signal of a combustion chamber are obtained in real time; performing identification based on the inlet excitation fluctuation signal and the heat release rate fluctuation signal to obtain a flame transfer function FTF; correcting the phase of the FTF to obtain a corrected FTF real part reflecting flame internal dynamics; determining the linear growth rate of the combustion system; the heat release rate fluctuation signal is processed, steady-state amplitude information of the heat release rate fluctuation signal is extracted, and the nonlinear saturation intensity of the combustion system is determined; and whether the current state of the combustion system tends to be developed into stable limit cycle thermoacoustic oscillation or not is judged based on the linear growth rate and the nonlinear saturation intensity, and a prediction conclusion is output. According to the technical scheme provided by the invention, whether the system is about to develop into destructive thermo-acoustic oscillation or not can be quickly and accurately predicted only according to online measurable combustion data.

The embodiment of the application provides an estimation method and system of a wind turbine variable pitch nonlinear saturation system, which introduces a saturation compensation network after a standard EKF prediction step, perceives the saturation depth of an instruction and the initial prediction deviation of a physical model, and further corrects the model prediction error caused by the saturation effect. In this way, the prior state prediction can be actively and accurately compensated before the update step of the EKF, so as to effectively inhibit the impact of large new information caused by saturation on the filtering process, avoid the estimation divergence problem that may occur in the traditional method, and provide reliable state information support for accurate control and safe operation of the wind turbine under complex working conditions.

The invention discloses an intelligent fixed-time super-spiral sliding mode control method for a hybrid mechanism. Establishing an uncertain hybrid mechanism dynamic model by adopting a Lagrangian method; based on an uncertain hybrid mechanism dynamic model, a nonlinear saturation item in super-spiral sliding mode control is improved into a transcendental function, so that the problem that the convergence speed is low relative to first-order sliding mode control is solved; secondly, designing a power term with a fixed time performance parameter in a superspiral sliding mode control algorithm transcendental function; then, in order to break through the limited range of the fixed-time super-spiral sliding mode control to overcome the system uncertainty, introducing a radial basis function neural network which can approach unknown nonlinear functions including system inherent dynamics and uncertainty in a hybrid mechanism dynamic model; and finally, implementing through software programming. According to the invention, through improving the super-spiral sliding mode control algorithm, rapid convergence of the series-parallel mechanism system within a preset fixed time can be realized, and the convergence performance of the series-parallel mechanism system is improved.

The invention relates to the technical field of data processing, in particular to an ungrounded neutral point resonance monitoring method and system for a smart power grid, and solves the technical problem of insufficient monitoring accuracy in the prior art. The method comprises the following steps: acquiring multi-source electric quantity time sequence data of a neutral ungrounded system of a smart power grid; determining resonance excitation combined potential energy according to the multi-source electric quantity time sequence data; the resonance excitation combined potential energy is used for representing the ferromagnetic resonance excitation capability of the system after transient impact; determining a resonance risk dynamic evolution coefficient according to the resonance excitation combined potential energy and the nonlinear saturation index of the iron core; determining a system-level resonance dynamic risk coefficient according to the resonance excitation combined potential energy and the resonance risk dynamic evolution coefficient; the system-level resonance dynamic risk coefficient is used for representing the current resonance instability risk level of the system.

The application discloses a preparation method of a wafer-level two-dimensional palladium ditelluride-palladium diselenide vertical heterojunction film for a nonlinear saturable absorber and application thereof. The structure of the material comprises, from top to bottom, a palladium ditelluride film and a palladium diselenide film, and the wafer-level two-dimensional palladium ditelluride-palladium diselenide vertical heterojunction is prepared by using an electron beam evaporation film plating assisted chemical vapor deposition technology. Experimental results show that the obtained heterojunction film has a nonlinear absorption performance superior to that of a single palladium ditelluride film in a 550 nm visible waveband; in a 1550 nm near-infrared waveband, the modulation depth can reach 31.92%, and the wide-spectrum response characteristics from the visible to the near-infrared waveband are exhibited. The obtained material has the advantages of controllable wafer-level growth, excellent nonlinear performance and wide working wavelength range, and provides important material strategies and theoretical support for the design of high-performance mode-locked lasers, all-optical switches and other ultrafast photonic devices, and has important application value.

The invention provides a robot inverse kinematics adaptive smooth constraint method and system, and relates to the technical field of robot motion control. The method aims at solving the problem that high-speed motion smoothness and low-speed positioning responsiveness cannot be considered at the same time through fixed parameter constraints. The method is executed in an iterative control loop and comprises the steps that the current state and the target state of the robot are obtained, and the pose error is calculated; calculating a theoretical joint update amount based on the pose error; according to real-time motion state parameters such as the die length of the pose error and / or the die length of the current joint angular velocity, a self-adaptive gain factor is dynamically calculated, and the value of the gain factor and the value of the parameter are in a monotone decreasing relation; a preset and continuously differentiable nonlinear saturation function is adopted, and the adaptive gain factor is used to constrain the theoretical joint update quantity to generate a final joint update quantity; and updating the state of the robot by using the final joint updating amount.