374 results about "Terminal sliding mode" patented technology

The invention provides a water surface and underwater heterogeneous cooperative control method and device based on a preset time disturbance observer. The control method mainly comprises the steps that a water surface unmanned ship controller calculates an expected control torque according to a specified expected trajectory, the actual state information of an unmanned ship body and a compensation value obtained by the observer; the underwater unmanned vehicle controller calculates an expected control moment according to the expected trajectory obtained by the guidance method, the actual state information of the water surface unmanned ship, the actual state information of the underwater unmanned vehicle body and a compensation value obtained by the observer; and heterogeneous cooperative control of the water surface unmanned ship and the underwater unmanned vehicle is realized. According to the method, guidance of water surface and underwater heterogeneous cooperative control is completed by fusing vertical projection and a sight line method; according to the improved self-adaptive integral terminal sliding mode control method, the external interference is estimated by using the preset time interference observer and is compensated in the controller to improve the anti-interference capability of the system, and the robustness and rapidity of the system are improved while the tracking precision of the system is improved by the provided improved self-adaptive integral terminal sliding mode control method.

The invention relates to a finite time terminal sliding mode control method and system for a piezoelectric actuator and a medium, and the method specifically comprises the steps: collecting an operation signal of the piezoelectric actuator, the operation signal comprising input voltage and displacement output data; establishing a fractional order coupling model containing asymmetric hysteresis characteristics; parameter identification is carried out on parameters in the fractional order coupling model, and the parameters in the fractional order coupling model are adjusted; a hysteresis feed-forward compensator is constructed, and the fractional order coupling model after parameter identification is compensated; and for the compensated fractional order coupling model, through a finite time terminal sliding mode control algorithm, realizing tracking control on the track of the piezoelectric actuator. On the basis of asymmetric hysteresis effect compensation, a finite time terminal sliding mode control algorithm is introduced, it is ensured that tracking errors are rapidly converged to zero within finite time, and the trajectory tracking precision and stability of the piezoelectric actuator within the finite time are improved.

A collaborative transportation robust control method for a flexible constraint multi-agent system comprises the following steps: establishing the multi-agent system, and taking tether tension generated by a load on each agent as an uncertain nonlinear term of the multi-agent system; an RBF neural network is constructed, and approximation prediction is carried out on the uncertain nonlinear term through the RBF neural network; constructing a test data set by using a multi-agent system to obtain an ideal tether tension value as a data label value; according to the data label value, updating parameters in the RBF neural network through a gradient descent method, and deploying the parameters into an uncertain nonlinear term; and designing a non-singular terminal sliding mode adaptive controller based on RBF neural network prediction of supervised learning, and performing control compensation on the uncertain nonlinear term. According to the method, stable transportation of the tethered multi-agent can be ensured, and model calculation is simple.

The invention relates to a mechanical arm trajectory tracking method based on improved integral terminal sliding mode control, and belongs to the technical field of robot control. According to the method, an integral sliding mode surface and a fast terminal sliding mode surface are combined to create a non-singular fast integral terminal sliding mode surface; an improved index reaching law is designed, and the buffeting problem existing in sliding mode control is weakened. The method comprises the following steps: S1, based on physical parameters of the mechanical arm, establishing a mechanical arm dynamic model by adopting a DH parameter method and a Lagrange dynamics principle; s2, constructing a non-singular fast integral terminal sliding mode surface for the dynamic system; s3, designing an improved reaching law fused with a hyperbolic tangent function; s4, performing trajectory planning by using a Cartesian space interpolation algorithm; s5, integrating the sliding mode surface, the improved reaching law and the dynamical model to derive a trajectory tracking control law; s6, constructing a closed-loop control model of the improved integral terminal sliding mode controller and the mechanical arm system; and S7, the control parameters are adjusted, and mechanical arm trajectory tracking is conducted. The control method serves as a controller to conduct trajectory tracking application on the six-degree-of-freedom mechanical arm. The result shows that on the premise of ensuring finite time convergence, the control method effectively eliminates the buffeting phenomenon of traditional sliding mode control, improves the trajectory tracking precision, has high robustness to external disturbance, and can realize high-precision tracking control of a mechanical arm end effector on a complex trajectory.

The invention discloses a self-adaptive logarithmic terminal sliding mode control method and device based on observation, and relates to the technical field of sliding mode control. According to the method, the terminal attractors are nested into the natural logarithmic function, terminal sliding mode control and logarithmic sliding mode control are effectively combined, rapid convergence can be achieved near and far away from the balance point, the global dynamics of the sliding mode surface is improved, and the sliding mode control efficiency is improved. Meanwhile, a self-adaptive logarithmic terminal sliding mode controller is constructed on the basis of super-spiral sliding mode control and self-adaptive gain, the self-adaptive gain is updated according to a self-adaptive law, the self-adaptive law is constructed on the basis of a preset nonlinear obstacle function, intelligent self-adaption of the super-spiral sliding mode control gain is achieved, and therefore sliding mode variables are restrained within a preset boundary; and the interference estimation error is quickly converged based on the estimation of the observer on the interference, the global quick convergence of the state tracking error is realized under the constraint of the sliding mode variable, the steady-state precision is high, the chattering phenomenon is weakened, and the convergence efficiency and the control precision are improved.

The invention discloses an unmanned ship formation keeping control method under communication time delay, and belongs to the technical field of intelligent ship navigation control, and the method comprises the steps: building an unmanned ship motion model based on a built unmanned ship three-degree-of-freedom motion model, a state-space equation of the unmanned ship three-degree-of-freedom motion model, and an environment disturbance mathematical model; aiming at the problems of wind wave flow disturbance and communication time delay suffered by the unmanned ship formation, constructing a superhelix integral sliding mode observer and a self-adaptive time delay estimator; a formation control system is built by combining a fixed time theory, a formation controller of a nonsingular terminal sliding mode and a superhelix integral sliding mode observer, and formation keeping of the unmanned surface vehicle is achieved; and finally verifying through a simulation experiment. The formation control system is built based on the fixed time theory and the nonsingular terminal sliding mode control method for the unmanned surface vehicle formation, the unmanned surface vehicle formation control precision is effectively improved, unmanned surface vehicle formation shape keeping control under composite disturbance is achieved, and the method has great significance in promoting precise development of unmanned surface vehicle formation operation.

The invention discloses a constant force control method and system for a multi-joint flexible mechanical arm, and belongs to the technical field of robots. The method specifically comprises the steps that through a force sensor installed at the tail end of the flexible mechanical arm, the difference value of contact force between the tail end of the flexible mechanical arm and the environment and expected force serves as a force error, and the difference value of the change rates of the contact force and the expected force serves as the force error change rate; calculating a damping coefficient and a corresponding stiffness coefficient variable quantity; an impedance control model is constructed and solved, and an expected trajectory of the flexible mechanical arm is obtained; obtaining a track deviation and a speed deviation; a fast terminal sliding mode controller is constructed, and a control law is solved in combination with an extended state observer; and carrying out driving control on the flexible mechanical arm by utilizing the obtained control law to realize constant force control on the tail end of the flexible mechanical arm. According to the invention, the response speed of the system and the stability of the transition process are ensured, the problem of impedance coefficient selection is solved, automatic adjustment can be carried out according to real-time information, and the control precision, the response speed and the anti-interference capability are improved.

The invention discloses a cable underwater robot trajectory tracking control method for coping with ocean current disturbance, and belongs to the technical field of underwater robot trajectory tracking, and the method comprises the following steps: S1, constructing a kinematics and dynamics model of a cable underwater robot, and simplifying the kinematics model of the cable underwater robot; s2, combining speed information of a Doppler velocimeter sensor, designing a super-spiral expansion state observer, and compensating a cable underwater robot system; designing a self-adaptive super-spiral expansion state observer by combining a self-adaptive law; and S3, designing a self-adaptive super-spiral integral terminal sliding mode controller based on the self-adaptive super-spiral expansion state observer. The real-time dynamic performance and stability of the underwater robot in sliding mode control are improved, the buffeting problem existing in sliding mode control is solved, it is ensured that under the condition of ocean current disturbance, the ROV can still achieve accurate trajectory tracking, and the robustness is very high.

The invention discloses an unmanned aerial vehicle robust control method based on an extended state observer, and the method comprises the steps: employing a tracking differentiator to track a track signal of an unmanned aerial vehicle, introducing a lumped disturbance reconstruction state error system, combining a self-adaption theory and a galn function, designing the extended state observer, estimating the state error change rate estimation and lumped disturbance estimation of each channel, and achieving the robust control of the unmanned aerial vehicle. Determining a non-singular terminal sliding mode active-disturbance-rejection control strategy, and obtaining the control quantity of each channel of the unmanned aerial vehicle; the state error change rate estimation serves as the state error change rate of the current unmanned aerial vehicle, the lumped disturbance estimation serves as the lumped disturbance of the current unmanned aerial vehicle, speed sensorless control is achieved, and the control quantity output by the speed sensorless controller is fed back to the extended state observer; according to a control quantity distribution strategy, the control quantity is converted into a thrust instruction of a motor of the quad-rotor unmanned aerial vehicle, real-time position and attitude information of the unmanned aerial vehicle is fed back to complete a control closed loop while the unmanned aerial vehicle is controlled to move, and robustness control over the unmanned aerial vehicle is achieved.

A method includes: calculating a first difference between a current actual attitude of a fuselage and a desired attitude and a second difference between an actual depth and a desired depth; inputting the first difference and the second difference into a set terminal sliding mode surface to obtain an output value of the terminal sliding mode surface; using the output value as an input of a preset high-order observer, a radial basis function neural network and a terminal sliding mode control law, respectively, and using an output of the high-order observer and an output of the radial basis function neural network as a compensation input of the terminal sliding mode control law; performing power distribution for each propeller of a propeller assembly on the basis of the virtual force to obtain a propelling force of each propeller; and controlling the propellers of the underwater submersible robot.

A preset time robust sliding mode control method for a mechanical arm system comprises the steps that (1) under the condition that parameter perturbation, joint friction and external disturbance are considered, a dynamic model and a tracking error system model of the mechanical arm system are established; (2) a robust preset time controller is designed to ensure that the speed tracking error of the mechanical arm converges to zero within preset time; 3) designing a non-singular fast terminal sliding mode controller based on a preset time reaching law so as to ensure that a position tracking error can also converge to zero within the preset time; 4) the feasibility and effectiveness of the method are verified by using a Lyapunov stability analysis method; aiming at a mechanical arm system with parameter perturbation, joint friction and external disturbance, the invention develops a robust nonsingular fast terminal sliding mode control method in preset time so as to ensure that the mechanical arm system can accurately track an expected trajectory signal in the preset time, so that the tracking speed of a mechanical arm is improved, and the tracking precision is improved. And the tracking accuracy and safety of the mechanical arm are ensured.

The invention relates to the technical field of mining permanent magnet synchronous motor sensorless control, and particularly discloses a composite sliding mode control and adaptive phase-locked loop collaborative optimization method. Aiming at the technical bottlenecks of a traditional control strategy in the aspects of rotating speed fluctuation suppression, load disturbance compensation and rotor position observation precision, a collaborative architecture of a time-varying integral terminal sliding mode control module, a sliding mode disturbance observation module and a self-adaptive phase-locked loop module is constructed, so that the dynamic performance optimization of the system is realized. According to the method, through the dynamic coupling design of the time-varying gain nonlinear reaching law and the fast integral terminal sliding mode surface, the convergence speed and the buffeting suppression requirement are balanced while the disturbance dynamic influence is eliminated; multi-dimensional decoupling observation of external load disturbance is realized based on a hierarchical disturbance observer architecture, and a disturbance real-time suppression path is established in combination with a feed-forward compensation strategy; and constructing an error self-adaptive correction mechanism of rotor position observation by dynamically adjusting a phase-locked loop proportionality coefficient and a phase compensation parameter. The limitation of parameter solidification and observation coupling in traditional control is broken through, the rotating speed tracking stability, the position observation precision and the anti-interference capability under complex working conditions are remarkably improved, and an innovative solution is provided for a high-precision servo driving system.

The invention relates to the technical field of permanent magnet synchronous motor control. The invention provides a permanent magnet synchronous motor adaptive high-order terminal sliding mode observer control method. The method comprises the following steps: establishing an expansion equation of a motor under an alpha-beta two-phase static coordinate system; designing a high-order terminal sliding mode surface based on the extension equation; designing a self-adaptive gain; designing a current signal control law and a back electromotive force signal control rate of the high-order terminal sliding mode surface based on the adaptive gain, the expansion equation and the high-order terminal sliding mode surface; obtaining constraint conditions of the adaptive gain and the control gain k; defining an expression of the adaptive gain; designing an adaptive high-order terminal sliding mode observer based on a current signal control law and a back electromotive force signal control rate; acquiring an electrical angular speed and a rotor electrical angle based on an orthogonal component phase-locked loop method; and controlling the operation of the motor based on field-oriented control and space vector pulse width modulation. According to the invention, the control system can maintain robustness and high-precision output at the same time under the high dynamic response requirement.

Provided are an underwater submersible robot capable of improving its ability to resist interference with underwater turbulence, and a control method and control device for the same. [Solution] A first difference value between the current actual posture and desired posture of the robot body and a second difference value between the actual depth and desired depth are calculated, the first difference value and the second difference value are input into a terminal sliding mode surface to be set, an output value of the terminal sliding mode surface is obtained, the output value is input into a pre-set high-order observer, radial basis function neural network and terminal sliding mode control law, and the output of the high-order observer and the output of the radial basis function neural network are input into the terminal sliding mode control law to obtain a virtual force of the terminal sliding mode control law output, power allocation is performed for each propeller of the propeller component based on the virtual force, thrust of each propeller is obtained, and the propeller of the underwater submersible robot is operated and controlled based on the thrust.

The invention provides a logarithmic terminal sliding mode control method for a nonlinear system, and belongs to the technical field of sliding mode control. According to the invention, a first-order logarithmic terminal sliding mode control strategy and a super-torsion logarithmic terminal sliding mode control strategy are obtained based on a designed logarithmic terminal sliding mode surface, a logarithmic terminal sliding mode cooperative control architecture oriented to a nonlinear system is obtained, multi-objective optimization of buffeting suppression, global rapid convergence and sliding time explicit is realized, and the method is suitable for large-scale popularization and application. The global convergence speed of the system state on the sliding mode surface can be improved while sliding mode control buffeting is weakened, the sliding time of the system state on the sliding mode surface is explicitly given, the strict mathematical correspondence between the controller gain coefficient and the system dynamic performance is determined through the explicit analytical expression of the sliding time parameter, and the system dynamic performance is improved. A quantitative theoretical basis is provided for parameter setting of an industrial field, and the system robustness under a complex working condition is remarkably enhanced.

The invention discloses a reinforcement learning-based quadrotor unmanned aerial vehicle attitude preset performance control method, which comprises the following steps of: establishing an unmanned aerial vehicle attitude kinetic equation by considering a time-varying inertial parameter and external unknown interference; a sub-channel preset performance controller is constructed, and a robust control quantity is generated in combination with preset performance and a non-singular fast terminal sliding mode control technology; designing a reinforcement learning parameter generator, and dynamically optimizing 12 time-varying parameter estimated values through a time sequence feature extraction network and a residual network; and establishing an online reinforcement learning training mechanism, constructing a multi-target reward function, and optimizing the output of the parameter generator through the multi-target reward function. According to the method, a reinforcement learning method is adopted to replace a traditional self-adaptive method to estimate time-varying parameters, multi-degree-of-freedom decoupling optimization is achieved through a sub-channel control architecture, tracking error preset performance constraint is achieved under the working condition of time-varying inertial parameters, and the dynamic adjustment capacity and anti-interference robustness of an attitude system are remarkably improved.

The invention discloses a high-speed train multi-mass-point cooperative control method, system, equipment and medium, and relates to the field of high-speed train operation control, the method comprises the following steps: dividing carriages of a high-speed train into multiple groups, and constructing a discretization kinetic equation of the high-speed train; performing multi-objective optimization on the control gain and the sliding mode surface parameters according to the displacement tracking error and the coupler force of the high-speed train in the set time period; based on the optimal control gain, the inter-group equivalent coupler force and composite resistance of the high-speed train are estimated in real time; determining a nonsingular fast terminal sliding mode surface based on the optimal sliding mode surface parameter and a displacement tracking error of the high-speed train; and according to the nonsingular fast terminal sliding mode surface, the inter-group equivalent coupler force estimated value, the composite resistance estimated value and the discretization kinetic equation, solving control input in real time so as to control the traction braking force of the front drive group and the traction braking force of the rear drive group in real time. The control precision, the anti-interference capability and the safety of the coupler force of the high-speed train are improved.

The invention discloses an improved sliding-mode active-disturbance-rejection control method for a two-stage energy storage converter, and the method comprises the steps: firstly, building a mathematical model of the energy storage converter in a three-phase static coordinate system, converting the mathematical model into a d-q rotating coordinate system, converting the mathematical model into a second-order active-disturbance-rejection normal form on the basis, and then carrying out the design of a super-spiral expansion state observer. In order to reduce system buffeting, a discontinuous switching item sign function in the super-spiral expansion state observer is replaced by a hyperbola function; secondly, a variable gain function which can change in real time along with observation errors is designed to replace the linear gain of ST-ESO, so that the disturbance observation capability is improved; and then, a superhelix integral terminal sliding mode is introduced as a feedback controller, so that the control precision and the convergence speed of the system are improved, and the robustness of the system is better improved.

The invention belongs to the technical field of robot system control, and particularly discloses a rope-driven multi-joint mechanical arm motion control method and system considering time delay, a medium and a product, and the method comprises the steps that when time delay estimation is carried out, a time delay estimation item is designed based on a multi-time-delay sample, and time delay estimation is adjusted through self-adaptive gain; a multi-sample delay signal is considered, a gradient with adaptive gain is also considered, time delay estimation with adaptive gain can compensate a dynamic model and provide stable torque input, a non-singular terminal sliding mode surface is designed to accelerate convergence speed, and under the condition that instantaneous interference exists, time delay estimation with adaptive gain can compensate the dynamic model and provide stable torque input. Accurate control can also be achieved under the conditions of friction, effective load or track change and the like. According to the control method based on time delay estimation, an accurate model is not needed, the precision is high, the robustness is good, and the trajectory tracking effect and the operation performance of the rope-driven multi-joint mechanical arm are improved.

The invention discloses an adaptive current decoupling control method for a sliding mode of a permanent magnet synchronous motor, and the method comprises the steps: designing an extended state observer to observe a d-q axis current and a voltage disturbance term, carrying out the difference between a current observation value and a reference current, and inputting the difference into a non-singular integral terminal sliding mode controller, thereby obtaining a d-q axis voltage; and then the observed d-q axis voltage disturbance term is superposed to form a total d-q axis voltage. And then identifying the d-q axis inductance and permanent magnet flux linkage of the permanent magnet synchronous motor by using a recursive least square method with dynamic forgetting and adaptive regularization factors, and sending the d-q axis inductance into the extended state observer to realize a closed-loop adaptive extended state observer. And after coordinate transformation and space vector pulse width modulation are carried out on the d-q axis total voltage, the d-q axis total voltage is used for driving an inverter to control the permanent magnet synchronous motor. The method improves the current decoupling effect and anti-disturbance capability of the permanent magnet synchronous motor, adaptively adjusts the parameters of the controller according to the change of working conditions, and improves the robustness of the system.

The invention provides an unmanned surface vessel recursive terminal sliding mode control method based on a novel disturbance observer, and relates to the technical field of unmanned surface vessels. The method comprises the following steps: firstly, designing a fixed time disturbance observer (FTDO) to suppress model uncertainty and adverse effects of external disturbance; and then an adaptive fixed time disturbance observer (AFTDO) is developed, and the adaptive law does not need lumped disturbance priori knowledge. Different from an existing fast non-singular terminal sliding mode surface (FNTSMs) which adopts a linear sliding mode (LSM) to avoid singularity, the method innovatively constructs a recursive terminal sliding mode surface (RTSM), thoroughly avoids singularity through a recursive structure, and remarkably improves convergence precision and speed near a balance point at the same time. A fixed-time recursive terminal sliding mode controller (FTRTSMC) is designed based on a lumped disturbance estimated value of the AFTDO, and it is strictly ensured that a trajectory tracking error converges to zero within fixed time (convergence time is irrelevant to an initial state).

The invention relates to the technical field of vehicle control, in particular to a vehicle trajectory tracking and driving stability fault-tolerant control method and device, and can solve the challenges that lumped disturbance prior upper bound unknown, communication network congestion and actuator faults are difficult to cope with at the same time in the prior art to a certain extent. And the buffeting problem caused by the traditional sliding mode switching gain and the singularity problem in the solving process are solved. The method comprises the following steps: establishing a vehicle dynamics model, a control error model and a related model; designing an adaptive robust terminal sliding mode trajectory tracking controller and a stability controller; event triggering conditions are designed, and the influence of communication network congestion is reduced; and a torque optimization distribution strategy with an actuator fault factor is designed, so that the fault-tolerant capability of the system is improved. The problems of system parameter uncertainty, external disturbance, communication resource limitation, buffeting, singularity, actuator faults and the like can be effectively solved, and therefore accurate control over the intelligent vehicle is achieved under the complex driving working condition.

The invention discloses a surface-mounted permanent magnet synchronous motor sensorless high-performance sliding-mode control method, and the method comprises the steps: designing an improved self-adaptive terminal sliding-mode switching function for the problem of high-frequency buffeting of a sliding-mode observer caused by the fixed gain design of the switching function; and dynamically adjusting the gain of the switching function according to the sum of the stator current error and the integral thereof under the two-phase static coordinate system so as to suppress high-frequency buffeting and improve the estimation precision. In order to further improve the performance of the position sensorless control system, a reaching law in a sliding mode controller is optimized, a novel composite gain self-adaptive sliding mode reaching law is designed, the reaching law combines a self-adaptive gain term, a nonlinear exponential term and a linear term, the system state is accelerated to approach when being far away from a sliding mode surface, buffeting is reduced when the system state approaches, and the control precision of the position sensorless control system is improved. Therefore, the dynamic response speed and buffeting suppression capability of the control system are balanced.

The invention discloses a quadrotor unmanned aerial vehicle finite time sliding mode attitude control method based on reinforcement learning, and the method comprises the steps: building a quadrotor unmanned aerial vehicle attitude dynamic model considering external disturbance and model uncertainty, and rewriting the quadrotor unmanned aerial vehicle attitude dynamic model into a standard state equation form; a controller nominal item based on a nonsingular integral terminal sliding mode method is designed, an arrival control law item containing a time-varying matrix is designed, and the sum of the arrival control law item and the nominal item is an attitude controller; based on the reinforcement learning principle, an extended Markov decision process is constructed, a corresponding state set, an action set, action implementation mapping, a reward function and the like are designed, and a time-varying matrix is obtained through reinforcement learning training and is set online. According to the method, the dynamic performance and the steady-state performance of the system are effectively improved, and meanwhile high robustness is achieved under turbulence disturbance.

The invention discloses a permanent magnet synchronous motor control method of an adaptive fractional order fast terminal sliding mode. The method comprises the following steps: firstly, constructing a mathematical model of the permanent magnet synchronous motor in a d-q axis rotor rotating coordinate system; then designing a fractional order fast terminal sliding mode surface, and solving an equivalent control law of sliding mode control based on the designed fractional order fast terminal sliding mode surface; performing adaptive design on the switching control gain and the boundary layer thickness to obtain an adaptive switching control law; and integrating the equivalent control law and the adaptive switching control law to obtain a total control law. Compared with existing surface-mounted permanent magnet synchronous motor sliding mode control, the surface-mounted permanent magnet synchronous motor sliding mode control method introduces a fractional order fast terminal sliding mode surface on the basis of a traditional integral sliding mode so as to reduce system buffeting and ensure that tracking errors converge in finite time, and meanwhile designs a self-adaptive control law of switching control rate gain and boundary layer thickness. The uncertainty influence of external disturbance is counteracted, and the robustness of the system is improved.

The invention discloses a quadrotor unmanned aerial vehicle trajectory tracking control method, a quadrotor unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicle control. The method is technically characterized by comprising the following steps: firstly, providing a fast terminal sliding mode disturbance observer for unknown disturbance of a system so as to realize accurate estimation of the disturbance within preset time; then designing a preset time fast terminal sliding mode controller based on disturbance estimation information, and further weakening a buffeting phenomenon of the system by using a saturation function; finally, based on a Lyapunov function method, it is proved that the system can achieve global predetermined time stability; according to the method, predefined time convergence of the trajectory tracking error of the quad-rotor unmanned aerial vehicle under unknown disturbance can be realized, the upper bound of the stabilization time can be randomly preset in a physical limitation range, the rapidity of the system is ensured, buffeting is eliminated, and the stability of the system is improved.

The invention discloses an SPMSM robust speed control method based on an adaptive high-order expansion sliding-mode observer, and the method comprises the following steps: designing and building a third-order LESO system according to a motor mathematical model, and the third-order LESO system is used for outputting an estimated rotating speed actual value, an estimated acceleration and estimated total disturbance; combining a non-singular fast terminal sliding mode algorithm with a disturbance observer, and designing a non-singular fast terminal sliding mode disturbance observer which is used for observing an acceleration state variable of the motor; the acceleration state variable is input into the third-order LESO system and replaces the estimated acceleration, and a high-order expansion sliding mode observer is generated; and constructing an active-disturbance-rejection controller by using the high-order expansion sliding-mode observer, linear state error feedback and total disturbance compensation, and performing speed control on the motor by using the active-disturbance-rejection controller. According to the method, high-precision observation of disturbance can be realized under the conditions that only less interference information exists and the method is not sensitive to interference frequency change.

The invention discloses an unmanned ship formation preset time control method based on a non-singular sliding mode surface, and relates to the technical field of unmanned ship formation, in particular to unmanned ship formation preset time control based on the non-singular sliding mode surface, comprising the following steps: step (1), establishing a motion three-degree-of-freedom mathematical model of the ith unmanned ship; (2) determining a formation geometric movement model of n unmanned ships; (3) obtaining tracking error dynamic states of the heading and the position of the ith under-actuated unmanned ship; (4) designing a preset time nonsingular sliding mode surface of the ith under-actuated unmanned ship; (5) designing a preset time heading controller of the ith under-actuated unmanned ship; step (6), designing a preset time surging controller of the ith under-actuated unmanned ship; and (7) performing simulation verification. The invention provides an unmanned ship formation preset time control method based on a non-singular sliding mode surface based on a non-singular sliding mode control theory. The method can realize the stability and robustness of the unmanned ship formation in a complex marine environment, ensures that the system converges to an expected state within a preset time, can effectively solve the problem of control singularity existing in a terminal sliding mode method, and ensures that a controller has relatively strong adaptability to external interference in an execution process.

The invention belongs to the technical field of unmanned ship control, and particularly discloses a control method of a fixed time event triggering terminal sliding mode with preset performance constraints. The control method comprises the following steps: S1, establishing an all-drive model of a multi-under-actuated unmanned ship system; s2, designing a fixed time disturbance observer; s3, constructing a cooperative tracking error system according to the cooperative control target and the interactive topological structure; s4, restraining and converting the cooperative tracking error by using a preset performance function, and updating a cooperative tracking error system; and S5, constructing a relative threshold event triggering mechanism, designing a distributed event triggering-fixed time terminal sliding mode controller, generating an actuator control instruction, and realizing cooperative tracking control of the system through an output instruction of an actuator. According to the method, the problem of fixed-time cooperative tracking control under the preset performance constraint is solved, two indexes of'rapid cooperative control 'and'communication resource saving' are realized at the same time, and the method is applied to a cluster scene of multiple unmanned ships.

The invention discloses a time-varying state constraint terminal sliding mode tracking control method based on an adaptive network, and relates to the technical field of adaptive control, and the method comprises the steps: 1, constructing a constraint potential energy error for each actual state of an engineering controlled object; 2, constructing a composite sliding mode variable with a fixed rational index; all sliding mode variables of all actual states of the project controlled object form an integral sliding mode surface on a vector level; and 3, carrying out online approximation on the actual dynamic state of the engineering controlled object by utilizing the single-hidden-layer radial basis network, and introducing network output as a dynamic compensation item into control input, thereby ensuring that the whole sliding mode surface is driven to zero within finite time and synchronously completing real-time compensation on the actual state of the engineering controlled object. According to the invention, the finite time high-precision tracking control of the controlled object of the controlled project with unknown nonlinearity and double-side time-varying boundaries is realized.