8 results about "Tracking error convergence" patented technology

The invention discloses a fast output feedback control method for a networked nonlinear system triggered by a dynamic event. By designing the dynamic gain, the dynamic gain is bounded, tracking error coupling is avoided, and meanwhile, the influence of a nonlinear term containing an unknown quantity and external disturbance on the system is compensated. In addition, a dynamic event triggering mechanism is provided based on the dynamic gain, and dynamic compensation of a triggering threshold value is achieved. And constructing a composite Lyapunov function by recursively constructing a virtual control quantity, and enabling the Lyapunov function to meet a fast finite time stability criterion in combination with parameter design of dynamic gain and nonlinear term power. Therefore, tracking errors are converged to a tight set, and the states of all closed-loop systems and observers are globally bounded. According to the method, rapid finite-time dynamic event triggering output feedback actual tracking control of a non-strict feedback system can be realized, and the method has urgent engineering application requirements and is of great significance in promoting the development of a networked nonlinear system control theory and an engineering technology.

The invention relates to the technical field of underwater vehicle control, in particular to an underwater vehicle trajectory tracking method and system based on polynomial noise compensation. The method comprises the following steps: acquiring a theoretical trajectory, an actual trajectory and a velocity vector of an underwater vehicle; constructing a tracking constraint condition and a quadratic programming objective function; obtaining a time-varying linear equation through a Lagrange function and a KKT condition; introducing a logarithmic mapping activation function and a polynomial anti-noise compensation item to construct a continuous time DRZNN model; discretizing the model to obtain an iterative formula; solving a velocity vector sequence according to an iterative formula, and tracking the trajectory of the underwater vehicle according to the velocity vector sequence; the high-order time-varying noise is structurally counteracted through the polynomial anti-noise compensation item, the convergence direction is stabilized through the logarithm mapping activation function, the trajectory tracking error is converged to the preset precision in the complex disturbance environment, and the tracking precision and robustness of the underwater vehicle in the deep sea scene are remarkably improved.

The invention discloses a time-varying self-adaptive asymptotic temperature control method for a fuel cell thermal management system, and the method comprises the following steps: S1, building a control-oriented multiple-input multiple-output thermal management system model based on the inlet and outlet temperatures of an electric pile, the double-circulation temperature dynamics and the internal heat exchange process of the system; s2, designing a novel time-varying command filter and introducing the novel time-varying command filter into a backstepping control framework in order to achieve a target of presetting temperature tracking error convergence time; s3, environment and system parameter perturbation are considered, a time-varying error compensator based on a smoothing sign function is combined, and a dual-channel time-varying self-adaptive asymptotic temperature tracking controller is provided to process unknown perturbation and compensate filtering errors; s4, selecting a proper Lyapunov function to prove that a closed-loop system is stable, and the temperatures at the inlet and the outlet of the galvanic pile can be gradually tracked to a reference value; according to the method, the problems of non-uniform temperature distribution and severe fluctuation of the electric pile caused by dynamic load change, parameter uncertainty and the like are solved, the operation efficiency of the battery is improved, and the service life of the battery is prolonged.

The application provides a multi-hydraulic-cylinder asymptotic tracking pre-determined performance adaptive control method of a digging-anchor integrated machine, which comprises the following steps: establishing a multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine, obtaining parameters of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine, and obtaining a state space expression of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine based on the parameters; setting a limited time pre-determined performance function to constrain tracking errors of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine; using an adaptive technology to estimate unknown parameters of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine and internal disturbances and external disturbances of the multi-hydraulic-cylinder position servo system of the digging-anchor integrated machine; and recursively obtaining a final controller by using a backstepping control theory, introducing an inequality and an integral bounded function, and realizing asymptotic tracking control. The final controller obtained by the application can make the tracking error converge in a limited time and stabilize more quickly.

This invention discloses a time-delay compensation control method for wave energy converters, belonging to the field of wave energy converter control technology. Based on the physical model of the wave energy converter, this method establishes the dynamic equations of the wave energy converter system. After defining the maximum power control problem of the wave energy converter, the dynamic equations of the wave energy converter system are transformed into a second-order linear system form, obtaining the system state variables, system parameters, and input time delay. After constructing an auxiliary system, an error variable is defined. Based on the error variable, a virtual control law is designed, and then an actual control law is constructed. By constructing the characteristic equation, the critical time delay threshold of the wave energy converter system is calculated. Lyapunov stability analysis proves that the system tracking error converges to a preset small neighborhood, thus completing the time-delay compensation control method for the wave energy converter. This invention can ensure that the critical time delay threshold of the system is always greater than the actual input time delay by adjusting the control parameters, guaranteeing system controllability.

The invention discloses a robust adaptive trajectory tracking control method based on a nonlinear extended observer, and belongs to the technical field of intelligent control and nonlinear adaptive robustness. The method comprises the following steps: establishing a kinetic model of a nonlinear system and obtaining tracking error dynamics; constructing a mixed performance function; mapping the constrained trajectory tracking error into an equivalent unconstrained conversion variable; the nonlinear extended state observer performs real-time estimation and feed-forward compensation on system lumped disturbance; designing an adaptive evaluation neural network weight updating law and an optimal control strategy under the nominal system in combination with the nominal system; and constructing a time-varying gain mechanism with a preset time characteristic, and constructing a composite optimal controller. According to the method, it can be guaranteed that the disturbed nonlinear system converges the tracking error to the steady-state limit within the preset time, the whole process meets the preset transient performance envelope, and the trajectory tracking precision and robustness under complex disturbance are remarkably improved.

The present application belongs to the field of quadrotor unmanned aerial vehicle tracking control technology, and specifically discloses a height and attitude tracking control method and system for quadrotor unmanned aerial vehicle. In the height and attitude tracking process of the quadrotor unmanned aerial vehicle, the present application converges the tracking errors of the height subsystem and the attitude subsystem of the aircraft in the desired neighborhood by designing a virtual controller, a first-order low-pass filter, an error compensation system, and an actual control signal. The present application can not only avoid the problem that continuous-time control is affected by the computer sampling time, but also ensure that the attitude and height tracking errors of the quadrotor unmanned aerial vehicle converge to any desired neighborhood in the presence of external disturbances and system uncertainties, and all signals in the closed-loop system are bounded. In addition, the present application also provides specific examples, which well verify the effectiveness of the tracking control method.

The invention relates to the technical field of multi-agent system control, solves the technical problem of lack of an effective active compensation mechanism for unknown nonlinear dynamics and actuator fault problems in an underlying physical system in the traditional technology, and particularly relates to an adaptive fault-tolerant control method for heterogeneous multi-agent distributed Nash equilibrium optimization. By constructing a hierarchical game control framework, hierarchical decoupling is carried out on high-level game strategy optimization of a decision-making layer and bottom-layer trajectory tracking of a control layer; and establishing an adaptive fault-tolerant control law, and configuring adaptive update law parameters based on a Lyapunov stability theory, so that a control layer can track a Nash equilibrium reference strategy. According to the method, distributed game control of the heterogeneous multi-agent system can be realized under the condition that nonlinear uncertainty and actuator faults exist, so that tracking errors are converged to a small tight set, accurate tracking of an optimal strategy is realized, and the fault-tolerant capability and robustness of the system are improved.