288 results about "Terminal sliding mode" patented technology

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.

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 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.

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 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 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 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.

The invention provides a permanent magnet synchronous motor sliding mode control method and system based on disturbance compensation, and the method comprises the steps: constructing a first motor state equation based on a permanent magnet synchronous motor mathematical model containing disturbance; secondly, on the basis of a sliding mode control theory, a novel adaptive reaching law and a non-singular fast terminal sliding mode surface are constructed, stability proving is completed, and the fast convergence capability is analyzed; designing a novel speed ring controller through the state equation, the reaching law and the sliding mode surface; designing a sliding mode disturbance observer for a disturbance part in the speed loop controller; and finally, carrying out FOC speed regulation control on the permanent magnet synchronous motor by using the designed speed ring controller and the disturbance observer. Compared with an existing well-known sliding mode control scheme, the hybrid control method of the speed loop controller and the sliding mode disturbance observer is adopted, system buffeting is effectively weakened, meanwhile, the dynamic response speed is considered, and the system robustness is improved.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention relates to a method for designing an observer based on a fast adaptive reaching law of an exponential function, belongs to the field of high-speed motor control, and provides an adaptive fast reaching law, AQRL is based on second-order sliding mode characteristics and a sign function, and the sign function is based on an exponential term and a system state. The robustness to disturbance and parameter uncertainty is obtained by using a sliding mode disturbance observer. In addition, a second-order fast terminal sliding mode observer is adopted to respond to interference more accurately, and the switching gain of the SMDO is prevented from being too large. The provided AQRL is verified through a Lyapunov second method, and it is mathematically proved that the arrival time is shorter than the traditional arrival time.

The invention discloses an improved sliding-mode active-disturbance-rejection control method for a network construction type photovoltaic hybrid energy storage converter, and provides an improved sliding-mode active-disturbance-rejection control strategy based on a quasi-continuous algorithm on the basis of a virtual synchronous generator (VSG) technology, the VSG is often matched with a voltage and current double-closed-loop strategy, a voltage outer loop adopts PI control, a reference value is provided for a current inner loop, and the current inner loop adopts PI control. A high-order super-spiral sliding mode observer (HO-STSMO) is adopted in a current inner ring, so that the response speed and the tracking precision are better; meanwhile, a double-sliding-mode switching control law form is adopted, a quasi-continuous integral terminal sliding mode controller (QC-ITSMC) is introduced, and an improved index reaching law is designed to smooth a system control signal and improve the robustness of the system; according to the control method, power grid power fluctuation is effectively suppressed, the performance of the photovoltaic hybrid energy storage converter is improved, the bus voltage is kept stable, and the system operation stability is improved.

The invention relates to a clamping force constraint backstepping sliding mode control method for an electronic mechanical braking system, and belongs to the related technical field of new energy automobile control. The method comprises the following steps of: establishing a state space model of the system by considering the nonlinear characteristic of the electronic mechanical braking system, and reasonably simplifying the state space model into a strict feedback form; a time-varying tangent barrier Lyapunov function (BLF) containing an error integral term is constructed, an exponentially decayed time-varying function is used as a constraint boundary of a clamping force tracking error, the integral term is introduced to eliminate a steady-state error caused by unmodeled dynamics, and the output constraint performance and tracking precision of a system are ensured; on the basis, a control law is designed by combining a backstepping method and non-singular fast terminal sliding mode control, and fast and accurate tracking of the braking clamping force is achieved; and proving the system stability based on the Lyapunov stability theorem. According to the invention, the braking response time and the clamping force control precision of the electronic mechanical braking system can be effectively improved.

The invention relates to the technical field of permanent magnet synchronous motors, and particularly discloses a permanent magnet synchronous motor low-buffeting terminal sliding mode control method based on adaptive disturbance compensation, comprising the following steps: S01, redefining a motor rotational inertia mathematical model; s02, improving a traditional nonsingular fast terminal sliding mode surface based on nonlinear system representation, and constructing a novel dynamic gain nonsingular fast terminal sliding mode surface; s03, performing derivation on the novel dynamic gain nonsingular fast terminal sliding mode surface, and combining a derivation function with nonlinear system representation to obtain an equivalent control law ieq; and S04, adopting an exponential reaching law isw as a switching control law of the sliding mode controller, and obtaining a novel different fast terminal sliding mode controller model according to an equivalent control principle in combination with the equivalent control law ieq and the exponential reaching law isw. The invention aims to improve the tracking response speed of a position instruction during servo control of the permanent magnet synchronous motor.

The invention provides a magnetic suspension bearing terminal sliding mode control method based on a Luenberger observer, and belongs to the technical field of bearing control. According to the method, a mathematical model of an active magnetic suspension bearing control system is established; establishing a state-space equation of the active magnetic suspension bearing control system; a terminal sliding mode surface and a terminal sliding mode control law are constructed and designed; estimating the state of the active magnetic suspension bearing control system by using a Luenberger observer; a gain matrix and a feedback gain matrix of the observer are adjusted to realize state feedback control; stable suspension of the magnetic suspension bearing is realized; according to the magnetic suspension bearing terminal sliding mode control method based on the Luenberger observer, the dynamic response speed and stability of an active magnetic suspension bearing control system can be remarkably improved; the introduction of the terminal sliding mode control ensures that the state of the active magnetic suspension bearing control system can be quickly and accurately converged to an expected value, and the chattering phenomenon in the traditional sliding mode control is reduced.

The invention discloses a multi-motor dynamic synchronous regulation and control method based on virtual line shaft state feedback, and the method comprises the steps: constructing a multi-motor virtual line shaft control model, setting an expected traction torque value through the output of a virtual main shaft, and setting each physical motor as a following motor; according to the collected state data of each motor, performing joint probability modeling on the state and disturbance of each motor by adopting a preset modeling method, and generating an estimated mean value and a covariance of each motor state; designing a nonsingular terminal sliding mode surface and calculating a control signal; setting a soft saturation buffer area range, constructing a soft switching function, carrying out buffer correction on the control signal, and outputting a corrected control signal; and synchronous control of multi-motor traction output is realized according to the correction control signal. According to the multi-motor dynamic synchronous regulation and control method, the synchronous stability, the anti-interference capability and the output smoothness in a complex dynamic environment can be improved.

The invention relates to an automobile finite time path tracking fault-tolerant control method considering steering actuator faults. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a steering execution mechanism dynamics model, designing a path tracking control strategy by applying a model prediction control method, and establishing an upper-layer path tracking controller; then, on the basis of a differential driving auxiliary steering principle, a preset performance control method of finite time convergence and a nonsingular fast terminal sliding mode control theory are combined, and a steering actuator fault-tolerant controller is established; and finally, designing a torque distribution controller by adopting an optimal control theory, and solving an optimal four-wheel driving torque control quantity through quadratic programming. According to the method, the influence caused by the failure of the steering actuator can be effectively compensated, the safety and the stability of the vehicle are remarkably improved, and a feasible solution is provided for the fault-tolerant control of the steering actuator in a future intelligent vehicle path tracking scene.

The invention discloses a quadrotor unmanned aerial vehicle attitude fault-tolerant control method. The method comprises the following steps: S1, establishing a tracking error dynamic model of a quadrotor unmanned aerial vehicle attitude system; s2, designing a reduced-order fixed-time expansion state observer; s3, constructing an adaptive preset performance function; s4, designing a fast nonsingular terminal sliding mode surface and a fixed time reaching law based on an adaptive preset performance function and the lumped disturbance estimated value, and generating a posture virtual control quantity; and S5, according to the mapping relation between the attitude virtual control quantity and the attitude loop control moment, performing inverse solution to obtain the attitude loop control moment, and inputting the control moment into an attitude actuator to enable the attitude angle tracking error to converge to be near a balance point within a fixed time. Compared with the prior art, the four-rotor unmanned aerial vehicle attitude fault-tolerant control method has the advantages that strict constraint on attitude system response under the actuator fault condition is provided, it is ensured that unmanned aerial vehicle tracking errors meet preset transient state and steady state performance constraints, and meanwhile the vulnerability problem of preset performance is effectively avoided.

The invention belongs to the technical field of control, and particularly relates to a piezoelectric fast reflector angle control method based on an improved terminal sliding mode controller. Comprising the following steps: S1, establishing a piezoelectric fast reflecting mirror dynamical model containing a hysteresis model and external disturbance; s2, obtaining a second-order kinetic model of the fast steering mirror by using the hysteresis inverse model; s3, taking the total disturbance of the second-order kinetic model of the fast steering mirror as an expansion variable, and establishing an expansion state observer based on the expansion variable; s4, designing an improved terminal sliding mode controller based on the non-singular fast terminal sliding mode surface and the improved adaptive reaching law; and S5, realizing high-precision control on the angle of the piezoelectric fast reflecting mirror based on the improved terminal sliding mode controller. According to the method, the adaptive function is introduced into the reaching law, so that the response speed of the system is dynamically changed, the robustness is improved, the buffeting of the system is effectively reduced, and the operation of the system is more stable and reliable.