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

The invention provides a sight line based finite time convergence active defense guidance control method, relates to a guidance control method, in particular to an active defense guidance control method, and aims at solving the problem that a defensive missile is limited in overload capacity. The sight line based finite time convergence active defense guidance control method comprises the steps of firstly modeling relative motions of a target, the defensive missile and an intercept missile, adopting a sight line guidance mode to design a guidance rule for the defensive missile, then adopting a nonsingular terminal sliding mode to control the designed guidance rule, respectively defining sliding mode variables (shown in the description) of a longitudinal plane and a lateral plane, performing derivation on the sliding mode variables, substituting relative motion equations of the target, the defensive missile and the intercept missile into the variables and obtaining the guidance rule (shown in the description) of the longitudinal plane and the guidance rule (shown in the description) of the lateral plane through compilation, and controlling the missiles according to the guidance rules. By means of the sight line based finite time convergence active defense guidance control method, overload needed by the defensive missile can be effectively reduced. The sight line based finite time convergence active defense guidance control method is suitable for active defense guidance control.

The invention provides a local obstacle avoidance considering UUV moving object sliding mode tracking control method, which comprises the steps of detecting position information of a UUV, a moving object and an obstacle in real time, acquiring state estimation of the moving object at the moment k, building a relative motion model of the UUV, the moving object and the obstacle, autonomously switching between a tracking strategy and an obstacle avoidance strategy according to the relative positions of the UUV, the moving object and the obstacle based on the size of the object tracking radius and the obstacle avoidance safety radius, acquiring tracking control deviation according to the measurement feedback of the instruction speed, the course, the UUV navigation speed and the course changing angular speed, and carrying out calculation based on a horizontal plane non-singular terminal sliding mode controller so as to acquire thrust of a UUV propeller and course changing torque of a rudder at the moment k, and executing the above steps in a cyclic manner so as to realize tracking control for the moving object at the next moment. According to the invention, a local planning strategy in the complex environment is combined with a UUV dynamics model, and the tracking accuracy of the moving object is ensured under the premise the UUV navigation safety.

The invention discloses a permanent magnet synchronous motor control method in which a vector control system is used. The vector control system comprises an outer speed ring and an inner current ring, and a PI (proportional-integral) controller of a rotating speed ring is replaced with a two-DOF (degree of freedom) higher-order nonsingular terminal sliding mode controller; the input of the two-DOF higher-order nonsingular terminal sliding mode controller is the difference between the given rotating speed w* of a motor and the actual feedback rotating speed w* of the motor; the error between the given rotating speed and the feedback rotating speed is judged, when the error of the rotating speed is less than Xi, an output exciting current iq* is calculated by a simple higher-order nonsingular terminal sliding mode controller; when the error of the rotating speed is greater than Xi, the output of the two-DOF higher-order nonsingular terminal sliding mode controller is an output iq* controlled by a higher-order nonsingular terminal sliding mode and the sum of the output and compensation gain of the higher-order nonsingular terminal sliding mode; and the size of Xi can be set according to actual situations and needs. According to the method, the system control accuracy is improved and the rapid convergence of the rotating speed of the motor is realized; and the method has strong robustness on load disturbances.

The invention provides an adaptive inversion nonsingular terminal sliding mode control method of a micro gyroscope. An inversion method and a terminal sliding mode are combined, an inversion terminal sliding mode control law is designed according to the Lyapunov stability theory, and therefore, system status can be converged to a balance point within the short limited time. Furthermore, by means of self-adaptive control, angular velocity and other system parameters of the micro gyroscope can be identified. Nonsingular terminal sliding mode control is introduced in consideration of singularity in the existing terminal sliding mode control, whole nonsingular control of the system is achieved, response speed of a controller is completely comparable to the traditional terminal sliding mode, and therefore, the adaptive inversion nonsingular terminal sliding mode control method has important theoretical and practical application value. By means of the adaptive inversion nonsingular terminal sliding mode control method of the micro gyroscope, the rate of convergence and tracking performance are ensured while strong robustness and adaptive ability to external disturbance are achieved.

The invention relates to a disturbance observer based MEMS gyroscope prediction performance non-singular sliding-mode control method. The method comprises the following steps: in view of a gyrodynamics model of parameter perturbation and external time-varying disturbance, designing an adaptive update law of neutral network weight, and correcting the weight coefficient of the neutral network to realize effective estimation of unknown dynamics; introducing a performance function to limit the tracking error, and converting the limited tracking error into unlimited conversion error through errorconversion; designing a sliding-mode controller based on conversion error to realize prediction performance control on MEMS gyroscope; designing a non-singular terminal sliding-mode controller to realize feed-forward compensation of unknown dynamics while avoiding the problem of system singularity; designing a disturbance observer to perform estimation compensation on external disturbance. The method disclosed by the invention solves the problem that external disturbance, system singularity, overshooting and tracking error cannot be designed in advance, and enhances the control precision and further improves the performance of the MEMS gyroscope.

The invention discloses a self-adaption fuzzy neural compensating nonsingular terminal sliding mode control method of a micro gyroscope. The method mainly involves a nonsingular terminal sliding mode controller and a fuzzy neural network compensating controller; the designed nonsingular terminal sliding mode enables that a system can reach a sliding mode surface and a balance point within a limited time from any initial state, and therefore, the convergence rate and steady stacking precision of the system are improved; meanwhile, the fuzzy neural network compensates the parametric modeling error of the micro gyroscope and outside disturbance effect on line, in order to improve the tracking performance; the fuzzy neural network is practiced on line, the self-adaption learning algorithm of weight of the fuzzy neural is on the basis of the lyapunov stability theorem, which ensures the tracking performance and the stability of the whole control system. The simulation result shows that the method is able to improve the problem of trace tracking of the micro gyroscope and can also effectively inhibit the parameter uncertainty and the influence from the outside disturbance, and as a result, the robust tracking can be realized.

The invention discloses a dynamic positioning method using an underwater detection and operation robot. The method solves the problem of uncertainty caused by a reason that dynamic positioning is disturbed by waves, and in combination with the developed novel underwater detection and operation robot, based on a hydrodynamic digital simulation recognition parameter method, a dynamic model is established for dynamic positioning analysis of six degrees of freedom. The position and the heading of the underwater robot are acquired via a sensor, the state of the underwater robot is estimated in real time by adopting an adaptive unscented Kalman filter algorithm, the thrust is compensated by adopting non-singular terminal sliding mode control to reduce the influence of random such as waves and the like, and a force and torque distribution strategy is designed according to the positioning error. The method has a good dynamic positioning effect, and can quickly adjust the dynamic distribution strategy after disturbance to reduce the negative effect of the disturbance.

A four-rotor unmanned plane finite time self-adaptive control method based on a nonsingular terminal sliding mode is provided; the method aims at a four-rotor unmanned plane system with inertia uncertainty factors and external turbulences; according to the four-rotor unmanned plane dynamic system, a nonsingular terminal sliding mode control method is employed, and self-adaptive control is combined, thus designing the four-rotor unmanned plane finite time self-adaptive control method based on the nonsingular terminal sliding mode; the nonsingular terminal sliding mode is designed so as to ensure the system finite time convergence features, thus preventing singularity problems existing in terminal sliding mode control, and effectively weakening jittering problems; in addition, the self-adaptive control is used for processing system inertia uncertainty factors and external turbulences; the method can remove the sliding mode surface singularity problems, and can effectively prevent and compensate the system inertia uncertainty factors and external turbulences, thus ensuring the system finite time convergence features.

A four-rotor unmanned plane finite time self-adaptive control method based on a fast nonsingular terminal sliding mode is provided; the method aims at a four-rotor unmanned plane system with inertia uncertainty factors and external turbulences; according to the four-rotor unmanned plane dynamic system, a fast nonsingular terminal sliding mode control method is employed, and self-adaptive control is combined, thus designing the four-rotor unmanned plane finite time self-adaptive control method based on the fast nonsingular terminal sliding mode; the fast nonsingular terminal sliding mode is designed so as to ensure the system finite time convergence features and fast convergence speed, thus preventing singularity problems existing in terminal sliding mode control, and effectively weakening jittering problems; in addition, the self-adaptive control is used for processing system inertia uncertainty factors and external turbulences; the method can remove the sliding mode surface singularity problems, and can effectively prevent and compensate the system inertia uncertainty factors and external turbulences, thus ensuring the system finite time convergence features.

The invention relates to a method for controlling a tracking error to be converged in fixed time, and belongs to the technical field of controlling. The method comprises the steps as follows: a dynamic model of a second-order uncertain system is established; a time-varying sliding mode function and a nonsingular terminal sliding mode function are designed, and a time-varying sliding mode controlled quantity and a nonsingular terminal sliding mode controlled quantity are obtained through respective solving and input into an established system model, so that the error is converged to 0 at the expected moment; and a nonsingular terminal sliding mode control technology is combined to design the controlled quantity, thus, the error in remaining time is kept 0. With the adoption of the method, the expected error convergence time can be set in advance, the system state is always maintained in the sliding mode, and the controlled system has overall robustness on parameter uncertainty and external disturbance.

The invention discloses a fractional order terminal sliding mode-based AFNN control method of an active power filter. The method comprises the steps of designing a mathematical model of an active filter, a fractional order-based nonsingular terminal sliding mode controller and a fractional order-based adaptive fuzzy neural network controller; and controlling the active power filter by using output of a fractional order-based nonsingular terminal sliding mode adaptive fuzzy neural network controller. According to the AFNN control method, the disadvantage that a nonsingular inversion terminal sliding mode control strategy needs accurate system information is overcome and the robustness is improved; good performance can still be kept when an external load changes; operation of the active power filter along a sliding mode track is ensured through designing the sliding mode controller; for the disadvantages of an inversion control law, an AFNN controller is adopted to approach a nonlinear part in the active power filter. A fractional order module is introduced into the sliding mode controller and the adaptive controller, so that an adjustable item is added by a fractional order in comparison with an integer order, and the overall performance of a system is improved.

The invention discloses a combined nonsingular terminal sliding mode control method of a power converter, and relates to a control scheme of combining a sliding mode control method and a disturbance observation technology of a buck converter. According to the invention, first-order nonsingular terminal sliding mode control is enabled to be combined with a nonlinear disturbance observation technology based on an average state model of the buck converter, on-off is controlled by changing the duty ratio of a switching device through adopting a fixed-frequency PWM mode, and thus target voltage output of the buck converter is realized. Provided by the invention is a power converter control method based on combination of a nonsingular terminal sliding mode and the disturbance observation technology so as to solve a problem that traditional sliding mode/PID control is slow in response speed, low in voltage output quality, poor in disturbance resistance and the like. In the control method, the nonsingular terminal sliding mode has the advantages of fast global convergence and high accuracy, and the disturbance observation technology can perform equivalent compensation on the disturbance, so that influences imposed on output voltage by high-frequency vibration are eliminated to a great extent, and thus the anti-disturbance performance of the power converter control system is improved.

The invention provides a non-singular terminal sliding-mode control method for a Buck converter with constant switch frequency and relates to a sliding-mode control method for the Buck converter. The problems that when a linear sliding-mode control method is adopted, the response speed of the Buck converter is low, the voltage output quality is low, and the response speed and the precision of output voltage of the Buck converter are directly influenced are solved. According to the method, based on an average state model of the Buck converter, by changing a duty ratio of a switch device, trigger pulses are generated for controlling on or off of the switch device, and then constant switch frequency voltage output of the Buck converter is achieved; a non-singular terminal sliding-mode controller of the Buck converter is designed, the advantages of strong robustness, overall finite time constriction, high stability precision and the like of the controller are utilized for overcoming the disturbance influence of load resistance, direct-current input voltage and the like, and therefore the quality of the output voltage is improved.

The present invention discloses a method and a system for controlling a permanent magnet synchronous motor. Nonsingular terminal sliding mode control is introduced into a speed ring of a permanent magnet synchronous motor vector control system, a speed controller is redesigned based on a nonsingular terminal sliding mode control method, so as to obtain a relatively stable q-axis reference current, and furthermore, relatively ideal rotating speed, torque and so on can be obtained. The system of the present invention can quickly and effectively adjust various input and output parameters of the permanent magnet synchronous motor when both interference and uncertain parameters exist in the system at the same time, is quick in dynamic response speed and high in robustness, and can improve control precision and operation reliability of the permanent magnet synchronous motor.

The invention discloses a robust adaptive nonsingular terminal sliding-mode control method of automatic train operation. The method comprises that S1) the bearing condition of vertical movement of a train is analyzed, and a train vertical movement power equation including unknown parameters, uncertainty and external interference is established; S2) a nonsingular terminal sliding-mode surface is constructed; S3) an adaptive law of estimated values of the unknown parameters and a parameter equation of parameters of the sliding mode surface are designed; and S4) the nonsingular terminal sliding-mode surface, the adaptive law of estimated values of the unknown parameters and the parameter equation of parameters of the sliding mode surface are substituted into the train vertical movement power equation including the unknown parameters, uncertainty and external interference, a nonsingular terminal sliding-mode closed-loop control equation is obtained, and the nonsingular terminal sliding-mode closed-loop control equation is used to implement robust adaptive nonsingular terminal sliding-mode control of automatic train operation. Thus, position and speed tracking errors of an ATO system can reach the sliding surface within limited time and converged to 0 within limited time.

A nonsingular terminal sliding mode flight path control method for airships includes: calculating error amount according to a given command flight path and an actual flight path, selecting a terminal sliding mode function to design a flight path control law according to a nonsingular terminal sliding mode control method, and applying the Lyapunov stability theory to prove stability of a control system. In practical application, an airship flight path is measured by a combined navigation system, and a flight path control function can be realized by transmitting control quantity obtained by calculation according to the method to an execution mechanism. A mathematical model of spatial motion of unmanned airships is built aiming at the problem of tracking flight paths of the unmanned airships; the flight path control law is designed according to the nonsingular terminal sliding mode control method by taking the model as a controlled object, attitude control errors are converged to zero in finite time by selection of the terminal sliding mode function, and system response speed and control precision are improved.

The invention provides a second-order chaotic projection synchronization method based on a non-singular terminal sliding mode controller. The method includes the following steps: step 1, establishinga projection synchronization error system according to a state equation of a driving system and a response system; step 2, designing a nonlinear sliding mode surface and an adaptive exponential approach law; and step 3, designing a non-singular terminal sliding mode controller to control the projection synchronization error system, and forming a closed-loop control system, wherein the closed-loopcontrol system realizes the projection synchronization between the driving system and the response system. The adaptive exponential approach law is proposed, automatic adjustment can be performed according to errors, the convergence speed of the errors can be increased, and the approach rate can be accelerated; the nonlinear sliding mode surface is applied to the second-order chaotic projection synchronization, and the nonlinear sliding mode surface has a faster approach speed than a linear sliding mode surface, can converge in a finite time, can overcome singular problems, and can ensure theisomorphic or heterogeneous second-order chaotic projection synchronization in different initial states in the case of modeling uncertainty and external interference signals.

The invention relates to an underwater robot attitude control method. A slave control board A collects the voltage and current of a power source, the temperature of the power source, the temperature and humidity in an electronic cabin, and information indicating whether water leakage occurs in the electronic cabin; the voltage and current of the power source, the temperature of the power source, the temperature and humidity in the electronic cabin, and the information indicating whether water leakage occurs in the electronic cabin are subjected to data processing of various modules; the processed data are transmitted to a master control board through an RS232 communication module; a slave control board B performs data processing and analysis of received data of a depth meter and an electronic compass and transmits processing results to the main control board through the RS232 communication module; after receiving navigation and depth information, the main control board calls a new fastnon-singular terminal sliding-mode control method according to the attitude control command of a console so as to calculate the rotational speed of each thruster; the rotational speed is putted intoa DA conversion module; obtained information is transmitted to each thruster; and therefore, the attitude control of a robot can be realized. With the underwater robot attitude control method of the present invention adopted, the problem of slow local convergence and easy fluctuation of the conventional non-singular terminal sliding mode control method can be solved.

The invention discloses a smooth nonsingular terminal sliding-mode control method suitable for a control system with a relative degree of 1, relates to a nonsingular terminal sliding-mode control method, and solves the problems that the existing nonsingular terminal sliding-mode control method exists buffeting to cause a controller not to output continuous smooth control signals and not be applied to the control system with the relative degree of 1. The smooth nonsingular terminal sliding-mode control method comprises the following steps: if the controlled system serves as a single-input single-output control system with the relative degree of 1, then acquiring the system state differential in real time, designing a nonsingular terminal sliding mode, introducing a virtual controlled quantity and utilizing an integral action to enable the actual output controlled quantity to be smooth and continuous; if the controlled system serves as a matched multi-input multi-output control system, then converting a scalar realization form of the control system to a matrix vector realization form; if the controlled system serves as a non-matching indeterminate multi-input multi-output control system, then conducting nonsingular state change for two times according to the controllability index r to resolve the system into r subsystems, introducing a reference model to eliminate time-varying uncertainty of input channels of the subsystems, and further designing a control law and a minor control law. The smooth nonsingular terminal sliding-mode control method disclosed by the invention can be applied to smooth nonsingular terminal sliding-mode control of the control system with the relative degree of 1.

The invention discloses a high-order nonsingular terminal slip mode control method applied to a two-stage magnetic head positioning system of a hard drive. The method comprises the following steps of: establishing a kinetic model of a flexible access arm system under the consideration of a flexible mode and the uncertainty of model parameters; and putting forward a three-order nonsingular terminal slip mode control method for permodeing one-time low-pass filtration on a control signal to effectively weaken the phenomenon of buffeting. In the method, a Lagrange method and an assumed mode method are used for deriving a dynamical equation of a flexible access arm two-stage system, and an output redefinition method is adopted for decomposing the flexible two-stage system into an input-output subsystem and an internal subsystem. Specific to the input-output subsystem in combination with two-order nonsingular terminal slip mode control and linear slip mode control, a three-order nonsingular terminal slip mode controller is designed, the converging characteristic of the system within limited time is proved through a Lyapunov stability theory, and the effectiveness of the method is verified by emulating with Matlab/Simulink software.

The invention discloses a novel recursive fuzzy neural network nonsingular terminal sliding mode control method of a micro gyroscope system. The recursive fuzzy neural network nonsingular terminal sliding mode control method comprises the steps of: designing a nonsingular terminal sliding mode surface function of the micro gyroscope system; determining a nonsingular terminal sliding mode control rate added into the nonsingular terminal sliding mode surface function based on a first Lyapunov stability criterion function; and replacing an uncertain item in the nonsingular terminal sliding mode control rate with output of a constructed recursive fuzzy neural network, and constructing a final control rate according to a result output by means of the constructed recursive fuzzy neural network and the nonsingular terminal sliding mode control rate based on a second Lyapunov stability criterion function, so as to realize tracking control over the micro gyroscope system. The nonsingular terminal sliding mode control adopted by recursive fuzzy neural network nonsingular terminal sliding mode control method has the advantages of high control precision and high robustness, and the singular problem existing in terminal sliding mode control is avoided; and parameters of the novel recurrent fuzzy neural network can be automatically stabilized to the optimal value according to a designed adaptive algorithm, so that the parameter training time is shortened, and the universality of the network structure is enhanced.