71 results about "Nonsingular terminal sliding mode control" patented technology

The invention discloses a virtual marshalling multi-train cooperative adaptive sliding mode control method based on an extended state observer, and the method comprises the steps: firstly constructing an urban rail multi-train tracking error dynamic model based on a unit train dynamic equation; secondly, establishing a nonsingular terminal sliding mode surface according to the urban rail multi-train tracking error dynamical model to obtain an equivalent control law, combining the equivalent control law with a switching control law to obtain a nonsingular terminal sliding mode control law, and introducing a gain adaptive law and a saturation function into the nonsingular terminal sliding mode control law to obtain an adaptive nonsingular terminal sliding mode control law; and finally, an extended state observer is adopted to estimate external interference, an observation value of the interference is added to the output of the adaptive nonsingular terminal sliding mode controller to serve as feed-forward compensation, and the adaptive nonsingular terminal sliding mode control method based on the extended state observer is constructed. According to the method, the multi-train cooperative operation tracking control precision and stability can be remarkably improved under the external interference condition.

The invention discloses a terminal sliding mode control method based on an arc tangent function and application of the terminal sliding mode control method. The traditional terminal sliding mode control is fast in convergence, but has a singular problem. The traditional nonsingular terminal sliding mode control solves the singular problem at the cost of sacrificing the convergence time. Therefore, the arc tangent function and the power function are introduced on the basis of the terminal sliding mode, the novel non-singular fast terminal sliding mode control method is constructed, and compared with a traditional terminal sliding mode control method, the method is continuous at a balance point, the singular problem is solved, and the method has the advantages that the method is simple and convenient to operate. Compared with the traditional linear sliding mode control, integral sliding mode control and nonsingular terminal sliding mode control, the method ensures that the speed regulation system has higher convergence speed, higher tracking precision and stronger anti-interference performance.

The invention provides a self-adaptive fractional order nonsingular terminal sliding mode control method based on time delay estimation, and relates to the technical field of manipulator control. Designing a non-singular terminal sliding mode surface containing fractional differential and power transformation, and further constructing a reaching law with variable gain; then, the unknown dynamic state and disturbance of the system are compensated in real time through a time delay estimation technology by utilizing historical control input and state information; finally, a control law is generated by integrating the sliding mode surface, the reaching law and the time delay estimation compensation item, high-precision and strong-robustness control over an uncertain nonlinear system is achieved, and the tracking precision and the anti-interference capacity of the manipulator in the uncertain environment are effectively improved.

The invention provides an FTESO-based parallel inverter system recursive nonsingular terminal sliding mode control method, and the method comprises the following steps: firstly, designing FTESO to estimate system load disturbance; and secondly, designing an RNTSM control law for the inverter system based on FTESO compensation, so that the inverter system can completely overcome the influence of load interference, and the robustness of filtering parameter perturbation is enhanced. According to the method, the recursive terminal sliding mode surface formed by combining the non-singular fast terminal sliding mode and the integral sliding mode is adopted, it can be ensured that the output voltage of an inverter system rapidly tracks the reference voltage of the inverter system within finite time, and system buffeting is effectively weakened.

The invention discloses a global fractional order nonsingular terminal sliding mode control method for a snakelike robot, and the method comprises the steps: reconstructing an N-joint snakelike robot tracking error dynamic model based on a dynamic model of an N-joint snakelike robot; designing a time delay estimator, and observing external disturbance of uncertain items of the N-joint snakelike robot system in real time; according to the global terminal sliding mode surface, the fractional order characteristics and the nonsingular characteristics, an N-joint snake-shaped robot system is used for outputting errors, and a global fractional order nonsingular terminal sliding mode surface is constructed; and designing a global fractional order nonsingular terminal sliding mode controller of the N-joint snake-shaped robot system based on time delay based on a global fractional order nonsingular terminal sliding mode surface and a time delay estimator in combination with a power reaching rate, and realizing high-precision tracking control.

The invention discloses a fault-tolerant control method and device for a faulty unmanned aerial vehicle based on incremental nonlinear dynamic inverse terminal sliding-mode control, and the method comprises the steps: determining an incremental expression based on a terminal sliding-mode control law, determining a sliding-mode control law of the faulty unmanned aerial vehicle based on an attitude control algorithm of incremental nonlinear dynamic inverse nonsingular terminal sliding-mode control, and carrying out the fault-tolerant control of the faulty unmanned aerial vehicle. The method comprises the steps of calculating the rotating speed of a rotor wing based on a sliding-mode control law and incremental expression, calculating the acceleration required to be applied by a faulted unmanned aerial vehicle based on the rotating speed of the rotor wing, and controlling the attitude and position of the faulted unmanned aerial vehicle based on the acceleration, and comprises the steps of converting a nonlinear system of the faulted unmanned aerial vehicle into a linear system, and designing a terminal sliding-mode control law; and determining an incremental expression according to the sliding-mode control law to calculate the acceleration required to be applied by the faulted unmanned aerial vehicle, thereby solving the problems that the fault-tolerant control cost is high and an expected index is not easy to reach under a relatively serious fault condition that the faulted unmanned aerial vehicle fails in a single-rotor or double-rotor mode.

The invention discloses an exoskeleton decoupling control method based on a fixed time expansion state observer, and the method comprises the following steps: 1), building a dynamic model of a multi-input-multi-output exoskeleton robot, and extracting an unknown dynamic coupling part; 2) designing a fixed time extended state observer to estimate uncertain dynamic coupling and unknown external disturbance in the system, and performing compensation by adopting a feedforward mode; and 3) in combination with the observer, designing a fixed-time nonsingular terminal sliding mode controller to quickly track the expected trajectory of the exoskeleton so as to realize decoupling control of the exoskeleton system. According to the invention, for a multi-input multi-output exoskeleton robot system with model uncertainty, a fixed-time convergence decoupling control method is designed in combination with an extended state observer and a nonsingular terminal sliding mode controller; the robustness and the stability of the system are improved, and meanwhile, the tracking error of the system can be controlled at a low level within fixed time.

The invention provides a preset performance fault-tolerant control method under motor failure of a tendon-driven mechanical arm. The preset performance fault-tolerant control method comprises the following steps: constructing a tendon-driven mechanical arm system model with actuator fault, external interference and system parameter uncertainty; designing a tendon-driven mechanical arm trajectory tracking error model and a fixed time sliding mode observer; an improved preset performance function is constructed, so that the trajectory tracking position error of each joint of the mechanical arm meets a preset performance boundary; and a fixed-time preset performance fault-tolerant controller is designed, so that trajectory tracking errors of all joints of the mechanical arm are converged to a preset performance boundary within fixed time. According to the method, non-singular terminal sliding mode control is combined with the preset performance function, so that the performance boundary constraint of the tracking error is realized while the stability of the fixed time of the system is ensured; by dynamically adjusting the boundary of the performance function, the problem of control precision degradation under the actuator fault working condition is effectively solved, and the robustness and trajectory tracking precision of the system are remarkably improved.

The invention provides a motor angular velocity calibration method, a motor control method and a motor control system, and relates to the technical field of motor control, and the calibration method comprises the steps: obtaining angular position information and angular velocity information outputted by a rotary transformer; constructing a discrete expansion state observer DESO, and obtaining an initial ideal angular velocity based on the DESO, the angular position information and the angular velocity information; and processing the initial ideal angular velocity based on a closed-loop transfer function of the same-frequency extractor to obtain an ideal angular velocity. The motor control method comprises the following steps: combining a linear sliding mode surface with a nonlinear sliding mode surface to construct dynamic nonsingular terminal sliding mode control. The problem of contradiction between the sliding mode approaching speed and buffeting is solved, the problem that the rotating speed fundamental frequency is difficult to extract when the CMG system works normally is solved, the precision of the output signal of the rotary transformer is improved, and high-precision speed control of the motor is realized.

The invention discloses a nonsingular terminal sliding mode control method and system for a marine rotary crane, and the method comprises the steps: obtaining related parameters of a four-degree-of-freedom marine rotary crane, and building a first mathematical model; establishing a first equation and a second equation based on the first mathematical model; an equation is combined with the improved non-singular fast terminal sliding mode curved surface, and a non-singular terminal sliding mode controller is obtained through solving; and a nonsingular terminal sliding mode controller is used for controlling the four-degree-of-freedom marine rotary crane to move. The external disturbance of the crane system can be well inhibited by coupling measurable ship yawing and rolling disturbance and combining self-adaptive control, meanwhile, a good compensation effect is achieved for parameter uncertainty caused by reciprocating transportation in actual operation, and the stability of the system is improved. And finally, efficient trajectory tracking and swing suppression can be realized, so that a control effect is achieved.

The invention relates to a quadruped robot single-leg sliding mode control method based on a disturbance observer, and belongs to the technical field of robot control. Firstly, a foot end track of a single leg of the quadruped robot in a swinging stage is established; then, establishing a kinematics model of a single leg of the quadruped robot to realize conversion between a foot end target position and a corresponding joint angle; on the basis, a nonsingular terminal sliding mode controller is designed to cope with dynamic control under the non-interference condition; finally, a final composite control strategy is designed in combination with a sliding mode controller and interference estimation, stable tracking of the joint angle of the robot is achieved, and therefore the anti-interference performance of the single-leg system is improved. According to the method, a composite controller is designed by combining a finite time disturbance observer and a nonsingular terminal sliding mode controller, so that the foot end trajectory tracking precision and the system robustness of the quadruped robot are improved, and the uncertainty caused by external disturbance and modeling errors of the robot is eliminated.

The invention relates to a permanent magnet synchronous motor speed regulation control method based on an iterative terminal sliding mode algorithm, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor in a synchronous rotating coordinate system, and enabling the mathematical model to be a calculation formula of a derivative of stator current and rotor angular speed; constructing a state equation of a motor rotating speed tracking error based on the rotor angular speed and the rotor expected angular speed; designing a traditional nonsingular terminal sliding mode surface based on the rotating speed tracking error in the state equation and the derivative of the rotating speed tracking error, and replacing a traditional function in the traditional nonsingular terminal sliding mode surface with a non-smooth function to obtain an improved nonsingular terminal sliding mode surface; based on the state equation and the improved non-singular terminal sliding mode surface, constructing a non-singular terminal sliding mode controller which enables the rotating speed tracking error of the permanent magnet synchronous motor system to converge to an original point on the non-singular terminal sliding mode surface, and controlling the permanent magnet synchronous motor based on the non-singular terminal sliding mode controller; the problem that the torque pulsation phenomenon exists when the permanent magnet synchronous motor operates is solved.

The present invention provides a method, device, equipment, and medium for non-singular terminal sliding mode attitude control of a quadrotor, relating to the technical field of quadrotor unmanned aerial vehicles (UAVs). This method uses a finite-time sliding mode observer to efficiently estimate coupled disturbances and external unknown disturbances in UAV attitude control, effectively resolving the problem of insufficient control accuracy due to disturbances in traditional methods. Combined with fast non-singular terminal sliding mode control technology, this method not only achieves rapid and accurate tracking of the preset attitude but also significantly enhances the system's anti-interference capability in the face of complex and variable disturbances. It also effectively suppresses controller output chatter, ensuring smooth flight. The goal is to improve the attitude control accuracy, response speed, and anti-interference capability of quadrotor UAVs in complex environments.

The invention relates to the technical field of robot intelligent control, in particular to a flexible joint mechanical arm tracking control method and device based on reinforcement learning. The method comprises the following steps: estimating uncertainty and actuator faults in a system model by adopting an Actor-Critic network so as to ensure that the system performance is kept stable even if the system experiences unpredictable changes; the non-singular terminal sliding mode control method is adopted to avoid the occurrence of singular points, so that the continuity and robustness of the control law are ensured, and the accurate trajectory tracking of the robot system is also ensured. The method considers that model parameters of the flexible joint mechanical arm may deviate due to different parameters such as spring stiffness, connecting rod length and mass, so that the inherent uncertainty in the model is estimated by adopting reinforcement learning. According to the strategy based on reinforcement learning (RL) and non-singular terminal sliding mode control (NTSMC), the uncertainty and unknown interference of the system can be compensated while trajectory tracking is kept.

The invention provides a quadrotor nonsingular terminal sliding mode attitude control method, device and equipment and a medium, and relates to the technical field of quadrotor unmanned aerial vehicles. According to the method, coupling interference and external unknown interference in unmanned aerial vehicle attitude control are efficiently estimated by adopting a finite time sliding mode observer; the problem of insufficient control precision caused by interference in a traditional method is effectively solved; according to the invention, by combining the rapid nonsingular terminal sliding mode control technology, rapid and accurate tracking of the preset attitude is realized, the anti-interference capability of the system in the face of complex and changeable disturbance is greatly enhanced, the output buffeting of the controller is effectively inhibited, and the flight smoothness is guaranteed. The objective of the invention is to improve attitude control precision, response speed and anti-interference capability of the quad-rotor unmanned aerial vehicle in a complex environment.

The invention discloses a forklift drive-by-wire drum brake control method and device based on a rapid nonsingular terminal sliding mode, and the method comprises the steps: 1) carrying out mechanism analysis for a mechanical structure and dynamic characteristics of a forklift drive-by-wire drum brake system, and building a dynamic model of the forklift drive-by-wire drum brake system; 2) according to the dynamic model established in the step 1, designing a fast nonsingular terminal sliding mode surface and a power reaching law so as to realize fast convergence of a system state; (3) according to the sliding mode surface and the reaching law designed in the step (2), a rapid nonsingular terminal sliding mode control algorithm suitable for the forklift drive-by-wire drum brake system is designed; and 4) based on the Lyapunov stability theory, proving that the control algorithm designed in the step 3 can enable the system state to converge to a balance point within finite time, and performing simulation on an MATLAB / Simulink platform to verify the effectiveness of the control algorithm in the forklift drive-by-wire drum brake system. And the response speed and the control precision of the drive-by-wire drum brake system of the forklift can be obviously improved.

The invention discloses an energy storage converter control method based on a fractional order superspiral terminal sliding mode, the energy storage converter comprises a front-stage converter and a rear-stage converter, specifically, a given power reference value is subjected to PQ control to obtain a current reference value, a state space averaging method is adopted to establish a disturbed state space averaging model of the rear-stage converter, and the disturbed state space averaging model of the rear-stage converter is calculated. A high-gain observer is designed according to a state-space equation, a disturbance estimation part in the observer is improved, a lag compensation link is introduced, output of the observer serves as feed-forward compensation and is combined with output feedback control, a fractional order super-spiral terminal sliding mode controller is designed, the fractional order super-spiral terminal sliding mode controller serves as current inner loop control, and the current inner loop control is achieved. SPWM modulation is carried out on the control rate output by the controller to obtain a control signal of a switching tube, and control over the output current of the converter is achieved. According to the method, the chattering problem which is difficult to avoid in integer-order nonsingular terminal sliding mode control in the prior art is solved.

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

The invention discloses an aircraft formation control method based on a fast adaptive nonsingular terminal sliding mode, and the method comprises the steps: 1, considering the uncertainty and interference factors in a flight environment, and building a nonlinear dynamic model of a fixed-wing aircraft system; 2, analyzing information topology among the aircrafts by adopting graph theory knowledge, designing a distributed control architecture, and enabling each aircraft to establish a generalized formation tracking error based on the own state and the information of the adjacent aircrafts; step 3, designing a controller by using a nonsingular terminal sliding mode control theory so as to improve the accuracy and robustness of formation control and reduce a chattering phenomenon; and 4, in combination with a rapid adaptive control technology, adjusting control parameters in real time so as to adapt to external disturbance and system state change. By adopting a nonsingular terminal sliding mode control theory, the accuracy and robustness of formation control are improved, and the output buffeting phenomenon of the controller is reduced; and in combination with a rapid adaptive control technology, control parameters are adjusted in real time, and the stability and robustness of the system are improved.

The invention discloses a UModel + NSTSM (U mode + nonsingular terminal sliding mode) control method for self-balancing of an unmanned bicycle. According to the method, an internal optimization-external enhancement control framework is constructed, in the internal optimization link, two U-mode controllers of a transverse roller system and a handlebar subsystem of the unmanned bicycle are linearly connected in series by introducing a transition function, in the external enhancement link, a nonsingular terminal sliding mode is adopted as a compensator of a UModel controller, and the non-singular terminal sliding mode is adopted as the compensator of the UModel controller. And therefore, an edge enhancement control system framework controlled by the UModel is constructed. According to the UModel control, a large number of nonlinear elements of a bicycle system are absorbed by utilizing technologies such as inverter dynamic inversion, the amplitude of a switching item of NSTSM control is reduced, and inherent buffeting of NSTSM control is reduced; the NSTSM designs a nonlinear sliding mode through a state error, so that the dependence of UModel control on the precision of a bicycle dynamics model is weakened; the interaction of the two effectively inhibits the nonlinearity and uncertainty of the self-balancing system of the unmanned bicycle. According to the method, the balance robustness of the unmanned bicycle can be remarkably improved, the requirement for the precision of the bicycle kinetic model is low, the control frame structure is clear, engineering implementation is easy, and the method has very high engineering significance.

The invention discloses an unmanned bicycle course trajectory tracking method based on internal and external double closed-loop control. In the method, a nonsingular terminal sliding mode controller is used as an inner ring controller, and a PID (Proportion Integration Differentiation) controller is used as an outer ring controller to form an inner ring controller and an outer ring controller. In the inner ring controller, the actual state value and the expected state value of the lateral inclination angle of the unmanned bicycle are used as errors to design a sliding mode surface, then a control law is designed, and lateral balance is mainly achieved; in the outer ring controller, a PID controller is designed by taking an actual state value and an expected state value of a course angle of the unmanned bicycle as an error, and the PID controller is mainly used for compensating inner ring control and realizing course control; and then the output of the inner and outer ring controllers is combined to act in the unmanned bicycle LPV model. According to the method, in an innovative control architecture, an outer ring PID controller and an inner ring nonsingular terminal sliding mode controller act synergistically, and a precise inner and outer ring regulation and control system is constructed. The outer ring PID controller effectively weakens the disturbance caused by the precision limitation of the dynamic model by virtue of the precise compensation capability of the outer ring PID controller on the error of the inner ring model, remarkably improves the precision performance of the inner ring controller, and accelerates the convergence process of the inner ring controller. Meanwhile, the inner-ring nonsingular terminal sliding mode controller greatly simplifies the parameter adjustment process of the controller due to the excellent dynamic response characteristic of the inner-ring nonsingular terminal sliding mode controller, achieves double leap of regulation and control performance and parameter adjustment efficiency, and has very high engineering significance.

The invention discloses a specified time nonsingular terminal sliding mode control method for a DC buck converter. The output voltage of the DC-DC buck converter is adjusted and controlled at specified time. The flow chart is shown in the figure 1 in the abstract drawing. The method comprises the following steps: firstly, obtaining a state space mathematical model of a step-down circuit under the condition of considering the uncertainty of inductance parameters; then, aiming at the mathematical model, constructing a sliding mode variable, and proposing a novel nonsingular terminal sliding mode control algorithm, thereby realizing specified time output voltage mediation control of which convergence time does not depend on a system initial value; finally, a conclusion can be obtained through Lyapunov analysis, which indicates that the closed-loop system can complete global specified time stabilization. Compared with an existing controller method, a plurality of control methods can only ensure that output errors converge to the neighborhood of an original point within specified time. According to the controller method provided by the invention, a specified time nonsingular terminal sliding mode algorithm (PSM) is designed on the premise of no singular problem and no dependence on an initial state in a system state convergence process, and it is ensured that an output voltage error can be accurately converged to zero within specified time.

The application discloses a global fractional non-singular terminal sliding mode control method for a snake robot, and comprises the following steps: based on a dynamic model of an N-joint snake robot, a tracking error dynamic model of the N-joint snake robot is reconstructed; a time delay estimator is designed to observe external disturbance of uncertain items of the N-joint snake robot system in real time; according to a global terminal sliding mode surface, a fractional order characteristic and a non-singular characteristic, a global fractional non-singular terminal sliding mode surface is constructed by using output error of the N-joint snake robot system; and based on the global fractional non-singular terminal sliding mode surface and the time delay estimator, a global fractional non-singular terminal sliding mode controller of the N-joint snake robot system based on time delay is designed by combining a power approaching rate, so that high-precision tracking control is realized.

The present application discloses a method for dynamic marshaling of virtual trains at different speeds, comprising: when two unit trains begin to be marshaled, in the case where the initial speeds of the first unit train and the second unit train adjacent to and catching up with it are different, obtaining the reference speed of the second unit train during the marshaling process, and obtaining the reference running interval of the two unit trains at any time; defining the interval tracking error and the speed tracking error based on the reference running interval, and constructing a non-singular terminal sliding surface; designing a non-singular terminal sliding control strategy, and controlling the dynamic marshaling of the train so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding surface under any initial conditions, and can converge asymptotically to zero within a finite time. The present application constructs a marshaling stage control model for the case of virtual trains at different speeds, and designs a non-singular terminal sliding control strategy to ensure that the trains can be safely and efficiently re-marshaled in the switch section according to the mission requirements.

The invention relates to the technical field of electrical automation, and discloses a sliding mode control-based power distribution network hot-line work intelligent equipment control method, which comprises the steps of optimizing a dynamic model of N-joint hot-line work intelligent equipment, and constructing an error dynamic model. Meanwhile, a linear expansion state observer is designed for real-time observation compensation for unknown items and uncertain items in the N-joint hot-line work intelligent equipment tracking error dynamic model. The design of the neural network self-adaptive global nonsingular terminal sliding mode controller can ensure finite time convergence, avoid singular phenomena, enhance robustness and realize high-precision tracking control while parameter self-adaption is realized.

The present invention discloses a method for suppressing backlash oscillation in a dual-inertia servo system containing backlash. The method is specifically implemented according to the following steps: Step 1: Establishing a mathematical model of the dual-inertia servo system containing backlash; Step 2: Establishing a dead-zone model of backlash, and constructing an input-output relationship between the position angle difference between the motor side and the load side and the shaft torque; Step 3: Designing a controller for switching between continuous non-singular terminal sliding mode control and time optimal control based on Steps 1 and 2; Step 4: Designing an adaptive backlash compensator based on the dead-zone model established in Step 2. The method for suppressing backlash oscillation in a dual-inertia servo system containing backlash of the present invention uses whether the servo system enters backlash as a switching condition, adopts time optimal control in the backlash, and reduces the generation of backlash oscillation; and adopts continuous non-singular terminal sliding mode control outside the backlash to suppress backlash oscillation.

The present invention discloses a non-singular robust quantization control method suitable for networked communication aircraft, in which robust, fast and accurate tracking control is achieved through non-singular terminal sliding mode control. It is worth mentioning that the control signal obtained by the control method is smooth and jitter-free, and then a uniform quantizer is introduced to convert the continuous signal into a discrete signal, which saves communication resources and reduces energy loss.

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.

The invention belongs to the technical field of vehicle-mounted photoelectric tracking platforms, and particularly relates to a high-dynamic self-adaptive rapid nonsingular terminal sliding mode control method. Comprising the following steps: S1, establishing a disturbed kinetic model of the vehicle-mounted photoelectric tracking platform; s2, designing a disturbance observer according to the lumped disturbance estimator of the vehicle-mounted photoelectric tracking platform; s3, designing a self-adaptive fast nonsingular terminal sliding mode surface according to the disturbed kinetic model of the vehicle-mounted photoelectric tracking platform; and S4, based on the interference observer and the self-adaptive fast nonsingular terminal sliding mode surface, constructing a high-dynamic self-adaptive fast nonsingular terminal sliding mode controller with a self-adaptive approaching rate, and realizing high-precision tracking control of the vehicle-mounted photoelectric platform. According to the invention, the tracking precision, the anti-interference capability and the robust performance of the vehicle-mounted photoelectric tracking platform can be improved, and the overall performance of the vehicle-mounted photoelectric tracking platform is further improved.

The invention provides an adaptive predetermined time trajectory tracking control method for a rigid-flexible coupling tendon-driven mechanical arm. The adaptive predetermined time trajectory tracking control method comprises the following steps: establishing a dynamic model of the rigid-flexible coupling tendon-driven mechanical arm which comprehensively considers the flexible deformation of an arm lever structure and the elastic deformation of a rope; designing a nonsingular terminal sliding mode surface according to the trajectory tracking error, and estimating system lumped interference by adopting an RBF neural network; and designing a self-adaptive predetermined time nonsingular terminal sliding mode controller, adjusting parameters through a self-adaptive law to suppress and control input buffeting, and controlling a joint trajectory tracking error to converge within a predetermined time range. The vibration of the tail end of the mechanical arm is restrained, and meanwhile it is ensured that the joint trajectory tracking error converges within the preset time range; the influence of initial conditions is avoided; according to the method, system uncertainty and external disturbance are estimated through the RBF neural network, and control robustness is improved; a self-adaptive parameter adjusting mechanism is introduced, the control input buffeting problem is effectively solved, and the tail end operation precision of the mechanical arm is improved.