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

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 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 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 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 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 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 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 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.

The invention discloses a servo system Super-twisting rapid nonsingular terminal sliding mode control method based on parameter error transformation, and the method comprises the following steps: building a servo system model with nonlinear friction force, and initializing a system state and control parameters; extracting parameter error information, designing a parameter error conversion method based on a preset performance function, designing AESO and performing stability analysis, designing Super-twisting fast nonsingular terminal sliding mode control, identifying unknown parameters of the system on line, and proving the stability of the system. The designed parameter error conversion and AESO have good identification and tracking control effects on the position servo system, system parameters can be identified on line with high precision, the control performance of the servo system is improved, and buffeting of an input controller and parameter identification is weakened.

The application discloses a balance car control method based on a non-singular terminal sliding mode active disturbance rejection technology, and comprises the following steps: constructing a balance car system model; constructing a nonlinear extended state observer; designing a control rate of a non-singular terminal sliding mode controller; inputting the difference between the target position of the balance car and the displacement output of the balance car system model into a PID controller to obtain a target angle; observing the angle output of the balance car system model to obtain an observed state; inputting the target angle, Z1 and Z2 into the non-singular terminal sliding mode controller to obtain an output signal; obtaining a control signal after the output signal is subtracted from Z3 and then subjected to a linearization treatment; the control signal is used on the balance car system model to control the displacement output and the angle output of the balance car system model, and is input into the nonlinear extended state observer on the other hand to finally form a closed loop control. The application can realize precise control and keep the balance car in a steady state under various disturbances.

The embodiment of the application discloses a kind of mechanical arm adaptive fractional order sliding mode control method, equipment and medium. Based on the position vector, velocity vector and acceleration vector of mechanical arm, the corresponding dynamics model of mechanical arm is established;Based on the actual trajectory and expected trajectory of mechanical arm, a tracking error dynamic equation is established;Based on the position error and error boundary corresponding to different joints of mechanical arm respectively, an error function is constructed to limit the trajectory tracking error corresponding to mechanical arm in the preset range based on the error function;According to the tracking error dynamic equation and error function, the corresponding fractional order non-singular terminal sliding mode surface of mechanical arm is obtained to construct adaptive fractional order non-singular terminal sliding mode control;According to the comprehensive disturbance data in the dynamics model corresponding to mechanical arm, a nonlinear disturbance observer is constructed to feed forward compensation based on the nonlinear disturbance observer on the dynamics model corresponding to mechanical arm, to realize the control of mechanical arm.

The application discloses a kind of agricultural machinery path tracking methods based on non-singular terminal sliding mode, belong to agricultural machinery navigation technical field.Main steps are:1. establish the path tracking model including disturbance, and transform into the state equation of strict feedback form;2. design second-order disturbance observer to estimate unknown state related to heading and aggregate disturbance;3. considering the goal of path tracking, select appropriate sliding surface;4. design non-singular terminal sliding mode controller, realize path tracking goal.The application has the advantages that:one, controller design only uses position deviation information, realizes path tracking control goal without using sensor to measure heading deviation information, reduces sensor cost;Two, the controller shortens system response time, improves tracking accuracy;Three, disturbance in the system is accurately estimated and compensated into the controller simultaneously, enhances the anti-interference performance of system.

A forklift linear control drum brake control method and device based on a fast non-singular terminal sliding mode, the method comprising: 1) for the mechanical structure and dynamics characteristics of the forklift linear control drum brake system, mechanism analysis is carried out, and a dynamics model of the forklift linear control drum brake system is established; 2) according to the dynamics model established in step 1, a fast non-singular terminal sliding surface and a power approaching law are designed to realize the fast convergence of the system state; 3) according to the sliding surface and the approaching law designed in step 2, a fast non-singular terminal sliding mode control algorithm suitable for the forklift linear control drum brake system is designed; 4) based on Lyapunov stability theory, it is proved that the control algorithm designed in step 3 can make the system state converge to the equilibrium point in a finite time, and simulation is carried out on the MATLAB / Simulink platform to verify the effectiveness of the control algorithm in the forklift linear control drum brake system. The response speed and control accuracy of the forklift linear control drum brake system can be significantly improved.

The present invention relates to a permanent magnet synchronous motor speed regulation control method based on an iterative terminal sliding mode algorithm, comprising: establishing a mathematical model of the permanent magnet synchronous motor in a synchronous rotating coordinate system, the mathematical model being a calculation formula of the stator current and the derivative of the rotor angular velocity; constructing a state equation of the motor speed tracking error based on the rotor angular velocity and the desired rotor angular velocity; designing a traditional non-singular terminal sliding mode surface based on the speed tracking error and the derivative of the speed tracking error in the state equation, and replacing a traditional function in the traditional non-singular terminal sliding mode surface with a non-smooth function to obtain an improved non-singular terminal sliding mode surface; constructing a non-singular terminal sliding mode controller based on the state equation and the improved non-singular terminal sliding mode surface, which enables the speed tracking error of the permanent magnet synchronous motor system to converge to an origin on the non-singular terminal sliding mode surface; and controlling the permanent magnet synchronous motor based on the non-singular terminal sliding mode controller; thereby solving the problem of torque pulsation during operation of the permanent magnet synchronous motor.

The application provides a motor angular velocity calibration method, a motor control method and a motor control system, relates to the technical field of motor control, and the calibration method comprises the following steps: acquiring angular position information and angular velocity information output by a rotary transformer; constructing a discrete extended state observer DESO; obtaining 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 a same-frequency extractor to obtain ideal angular velocity. The motor control method comprises the following steps: combining a linear sliding surface with a nonlinear sliding surface to construct dynamic non-singular terminal sliding mode control. The application improves the contradiction between sliding mode approaching speed and chattering, solves the problem that it is difficult to extract a rotational speed base frequency under normal operation of a CMG system, improves the precision of a rotary transformer output signal, and realizes high-precision speed control of a motor.

The invention discloses a self-adaptive robust control system and method of an electro-hydraulic servo system, and belongs to the technical field of electro-hydraulic servo system control. According to the scheme, the method comprises the steps that a state-space equation module establishes a system dynamic model, an RBF neural network module estimates system characteristics and disturbance, an offline optimization module adopts a raccoon optimization algorithm to optimize RBF parameters, and robustness initial configuration is formed; the online optimization module is combined with an Actor-Critic reinforcement learning framework to adaptively adjust parameters; the nonsingular terminal sliding mode control module guarantees finite time convergence of the system; and the network communication module realizes data transmission among the modules. High-precision, quick-response and high-robustness electro-hydraulic servo system control is realized, and the problems of insufficient control precision, low convergence speed, weak anti-interference capability, insufficient network communication adaptability and the like in the prior art are effectively solved.

The application provides a non-singular terminal sliding mode control parameter collaborative optimization method for a Buck converter, comprising the following steps: step 1, constructing a state space average model of the Buck converter with inductance current and capacitor voltage as state variables, and defining system tracking error state variables; step 2, filtering and preprocessing transient simulation output voltage of the Buck converter; step 3, constructing a dynamic multi-objective composite fitness function fusing a load step sensing penalty term; step 4, calculating information entropy of each index by using an entropy weight method; step 5, performing physical mechanism guided Bayesian optimization by using a domain specific kernel function; and step 6, performing closed loop iteration optimization of a particle swarm algorithm by using the dynamic multi-objective composite fitness function after parameter calibration. The application effectively decouples the contradiction between transient response and steady state accuracy, guarantees physical safety from the bottom of the algorithm, and significantly improves the control robustness of the converter under large disturbance.

The present invention discloses a non-singular terminal sliding mode auto-disturbance rejection control method for a two-stage energy storage converter. Based on the auto-disturbance rejection theory, the state equation of the energy storage converter in the dq coordinate system is converted into an auto-disturbance rejection paradigm, the system coupling term and the part unrelated to the control quantity are equivalent to a lumped disturbance, observation compensation is performed through a fixed-time observer, and then a non-singular terminal sliding mode control law is designed as a feedback control law to replace the linear feedback in the auto-disturbance rejection, thereby improving the speed of error convergence; the transient time of the short state can be effectively shortened, the overshoot is reduced, and the grid-connected power quality is improved.

The present invention discloses an adaptive sliding mode control method for the end effector of a wire harness winding robot. The present invention comprises the following steps: Step 1, establishing a brushless DC motor system model according to Kirchhoff's voltage law, the principle of rigid body dynamics, the principle of backlash dynamics and the law of load variation; Step 2, adaptively identifying system parameters according to the principle of parameter estimation error; Step 3, using the system parameters identified in Step 2 as part of the sliding mode control parameters, and establishing an adaptive fast non-singular terminal sliding mode controller; Step 4, performing online parameter identification and adaptive control on the end effector of the wire harness winding robot based on the initial parameter values established in Step 3. The present invention has the characteristics of strong robustness and fast control response. Ultimately, it can sense load changes in real time and adaptively adjust controller parameters. It is simple and easy to apply, has low cost, and can be widely used in control application fields such as the end effector of a wire harness winding robot.

The invention relates to the technical field of light beam drift prevention, in particular to a fast reflector improved preset performance control method based on a switching strategy. Reducing the order of the nonlinear extended state observer of the fast reflector system to obtain a reduced-order nonlinear extended state observer; based on a preset performance function, obtaining an equivalent control item under the constraint condition of the tracking error; constructing a power robust control item, and obtaining a preset performance control law based on the equivalent control item and the power robust control item; constructing a fast nonsingular terminal sliding mode surface, and obtaining a nonsingular terminal sliding mode control law based on the fast nonsingular terminal sliding mode surface; and obtaining a control law switching strategy based on comparison between the tracking error and a preset performance function. According to the method, better disturbance estimation can be realized under smaller gain, the overshoot, the steady-state precision and the error convergence speed are preset, so that the system has excellent dynamic and steady-state tracking performance, and the control singularity of the system when the system exceeds a preset performance function is overcome.