527 results about "Virtual control" patented technology

The invention discloses a data-based predefined time heterogeneous multi-agent formation collision avoidance method. The method comprises the following steps: establishing a nonlinear heterogeneous multi-agent system; designing a bimodal artificial potential field function to perform dynamic obstacle avoidance and prevent regional escape; establishing a self-adaptive robust controller used for generating an obstacle avoidance safety motion trail of the root leader; designing a self-adaptive formation zooming mechanism of the leader, and constructing a predefined time affine observer of the follower based on the self-adaptive formation zooming mechanism; designing a unified obstacle function; constructing a virtual control law for processing tracking errors based on the unified obstacle function; designing a neural network estimator; designing controllers of the leader and the follower according to the virtual control law; and forming a collision avoidance decision of the heterogeneous multi-agent formation based on a self-adaptive robust controller, a predefined time affine observer, a neural network estimator and controllers of the leader and the follower. According to the method, safe, efficient and robust cooperative control of the formation in a complex environment is realized, and the safety and task execution efficiency of the heterogeneous multi-agent formation in a limited and unknown environment are remarkably improved.

The invention relates to the technical field of mechanical arm control, in particular to a self-adaptive fuzzy fixed time control method based on an output-limited mechanical arm, and the method comprises the following steps: S1, constructing a mechanical arm dynamic model; s2, setting constraint conditions of an output state of the mechanical arm dynamic model; s3, defining a tracking error and a virtual control law of the mechanical arm dynamic model; s4, on the basis of output state limitation and fixed time control, an actual control law is designed to serve as input of the mechanical arm dynamic model, and an adaptive law is constructed; and S5, a three-level logarithmic obstacle Lyapunov function is constructed, the three-level logarithmic obstacle Lyapunov function is combined with the virtual control law, the actual control law and the self-adaptive law step by step and substituted into the virtual control law, the actual control law and the self-adaptive law, and then it is guaranteed that the output state of the mechanical arm dynamic model does not exceed the preset safety boundary according to the actual fixed time control lemma. According to the invention, high-precision trajectory tracking can be realized on the premise of ensuring safe operation of the mechanical arm.

The invention discloses an intelligent regulation and control method for a power battery positive electrode binder production process, and the method comprises the steps: synchronously collecting multi-dimensional process parameters such as temperature, viscosity and the like and performance indexes such as particle size distribution, bonding strength and the like, carrying out the normalization, denoising and time sequence alignment processing, and fusing hydrodynamic simulation and historical data to construct an initial parameter coupling model; identifying a parameter influence weight through an attention mechanism neural network, generating a decoupling factor matrix to reconstruct a parameter space, and establishing a virtual control channel; executing constrained gradient descent multi-objective optimization in the channel, generating a regulation and control instruction, and reversely mapping the regulation and control instruction into an equipment executable parameter; according to the method, performance indexes and optimization targets after regulation and control are continuously compared, model parameters are updated, retraining is triggered when deviation exceeds a threshold value, regulation and control precision and process stability are guaranteed, and the real-time performance of parameter regulation and control, the collaborative optimization capability and the quality consistency of the production process are remarkably improved.

The invention discloses a large-span truss hoisting and splitting system and method based on digital twinning, and belongs to the technical field of building construction, and the system comprises a physical entity unit, a data acquisition and transmission unit, a digital twinning model unit, a function service and data analysis unit and an application and interaction unit. According to the invention, through real-time sensing of a physical entity state, multi-source data fusion transmission, high-precision digital twinning modeling, intelligent simulation analysis and decision optimization, and fusion of multi-modal man-machine interaction, a virtual control system which is in whole-course synchronous mapping and bidirectional interaction with a physical entity is constructed; according to the method, real-time visual monitoring, trend prediction and risk early warning of the hoisting and splitting process can be achieved, scheme preview and dynamic optimization are supported, virtual-real fusion operation guidance is achieved through the AR technology, and the safety, precision and efficiency of hoisting and splitting operation of the large-span truss are improved.

The invention relates to a rigid spacecraft attitude control method and system based on finite time constraint, and belongs to the technical field of spacecraft attitude control. Comprising the following steps: respectively constructing a spacecraft attitude control system model and a finite time convergence performance function containing a preset time constant; according to the finite time convergence performance function, dynamic attitude constraint is applied to the system state of the spacecraft attitude control system model; converting the attitude constraint into differential homeomorphic mapping of an unconstrained space; obtaining an error conversion variable according to differential homeomorphic mapping; and designing a virtual control law and constructing an error compensation module according to the error conversion variable, and designing an actual control input law according to the virtual control law and the error compensation module. According to the method, rapid convergence of the spacecraft attitude within the preset time is ensured, the dynamic response precision of the spacecraft in the rapid attitude maneuver process is remarkably improved, the control period delay is effectively avoided, and the power consumption is reduced.

The invention provides a multi-unmanned aerial vehicle distributed fault-tolerant control method, an unmanned aerial vehicle control method and an unmanned aerial vehicle control system, and belongs to the technical field of unmanned aerial vehicles. A position ring distributed fault-tolerant controller and an attitude ring distributed fault-tolerant controller are constructed in combination with a multi-unmanned-aerial-vehicle position ring virtual control law and a multi-unmanned-aerial-vehicle attitude ring virtual control law, and fault-tolerant processing is performed on the flight path of the fault unmanned aerial vehicle through the position ring distributed fault-tolerant controller; the fault unmanned aerial vehicle can keep tracking an expected trajectory; fault-tolerant processing is carried out on the attitude of the faulted unmanned aerial vehicle through the attitude ring distributed fault-tolerant controller, so that the faulted unmanned aerial vehicle can maintain a stable attitude angle, thereby ensuring that the whole unmanned aerial vehicle cluster system can operate safely and stably.

A system for controlling a vehicle combination comprising a tractor unit and at least one trailing unit is disclosed. The system has a target generator to determine a virtual control input for the vehicle combination based on a reference input for the vehicle combination. A power manager determines a power allocation input for the vehicle combination based on the reference input and a power capability of one or more units of the vehicle combination. A combination control allocator determines a control input for the vehicle combination based on the power allocation input and the virtual control input.

The invention relates to an indoor airship-oriented finite time trajectory tracking control system, platform and method, the system comprises an airship dynamic model, a disturbance estimation module, a sliding mode filter and a self-adaptive controller, the airship dynamic model is formed by constructing a motion stipulation inertial coordinate system and an airship body coordinate system of an airship; the disturbance estimation module estimates unknown disturbance based on a double-layer neural network according to an airship dynamic model and updates the network in real time; the sliding mode filter estimates the influence of noise on the motion speed of the airship according to the unknown disturbance condition of the airship and updates the network in real time; the adaptive controller adjusts the virtual control input of the airship motion trail by controlling the convergence condition of the tracking error within the finite time; according to the method, the disturbance problem caused by uncertainty and dead zones in the airship and the deviation problem of speed signal estimation caused by noise are solved.

The invention provides a heterogeneous motorcade prediction control method based on a path information protection mechanism, and relates to the technical field of network connection unmanned vehicle cooperative control and intelligent traffic. Firstly, a path information protection mechanism is provided for preventing an alien invading vehicle from tracking a motorcade and ensuring the safety of motorcade path information. In addition, a predictor model is established to improve the estimation performance of the adaptive law, and a variable gain nonlinear expansion state observer is designed to approach and compensate the total disturbance. Then, by introducing a variable-gain hyperbolic tangent tracking differentiator, the problem of'complexity explosion 'caused by repeated derivation of a virtual controller in a backstepping method is avoided; and finally, a distributed prediction cooperative controller is constructed, and stable and safe driving of the whole heterogeneous network connection fleet is ensured.

The invention relates to the technical field of industrial automation control and dynamic simulation, and discloses a centralized control console and 3D model linkage virtual-real simulation system, which comprises a control signal sampling interface, a load response modulation unit, a dynamic model evolution unit and a virtual-real closed-loop feedback unit, the load response modulation unit performs energy consumption weight accumulation on all the virtual controlled objects in transient action to generate a global time scaling factor so as to correct an inertia time constant of the system in real time; the dynamic model evolution unit introduces a hard limiting boundary by using an amplitude limiting link and calculates a process variable; the virtual-real closed-loop feedback unit extracts a control deviation signal and drives a physical instrument to generate a nonlinear damping action, and by establishing a global load modulation model based on energy constraint, a discrete control system spontaneously emerges a nonlinear hysteresis characteristic conforming to physical energy conservation under the low calculation power condition without complex fluid network solution.

The invention discloses a self-adaptive finite time fuzzy safety control method for a flexible joint mechanical arm, which comprises the following steps that a flexible joint mechanical arm state space model influenced by spoofing attack is established, and a control signal comprises an unknown time-varying parameter and an unknown bounded attack function; introducing a Nussbaum function meeting a preset limit integral property; designing a control method based on a finite time stability principle, and ensuring that a system state converges to a bounded residual set within finite time; a fuzzy logic system is adopted to approach an unknown nonlinear function in the mechanical arm model; defining an error variable through coordinate transformation, and constructing a parameter which exponentially decays along with time; constructing a Lyapunov function containing the exponential decay parameter, and designing a virtual control function, a controller and a parameter adaptive law based on the function; and the Nussbaum function is constructed to be used for processing the unknown time-varying parameters. According to the invention, the influence of spoofing attacks on state signals can be reduced.

The invention discloses an autonomous surface ship elastic train formation control method based on reinforcement learning. The method comprises the steps of obtaining a virtual ship reference signal according to a constructed time-varying adjustment mechanism; obtaining error data of the following ship based on the virtual ship reference signal and the nonlinear mathematical model so as to construct a ship virtual control law, and carrying out filtering processing on the virtual control law in the advancing direction and the yawing direction of the ship so as to obtain a filtering signal; defining a dynamic error according to the filtered signal to obtain a dynamic error derivative, and adopting a neural network to approach the dynamic error derivative to obtain an optimized dynamic error derivative; constructing a weight updating law of the actor neural network and the critic neural network according to the error data; and based on the weight updating law, designing a formation controller and an adaptive law according to the optimized dynamic error derivative in combination with the dynamic error. According to the method, the technical problem that the existing method lacks perception and recognition of the communication state and cannot effectively realize adaptive compensation of model uncertainty and unknown environment disturbance is solved.

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.

According to the cooperative control method and system of the non-linear multi-agent system, under the condition that communication link faults are considered, a non-linear dynamic model of each single-connecting-rod mechanical arm is established, and unknown uncertain non-linear dynamic states in the single-connecting-rod mechanical arms are fuzzified through a fuzzy logic system; a mixed event triggering mechanism is introduced, so that state information of a leader is estimated, and the communication frequency is effectively reduced; and constructing a virtual controller and an actual controller by utilizing a backstepping method based on the estimated state information, so as to control the position of the following mechanical arm to be synchronous with the expected trajectory of the leading mechanical arm under the condition of being influenced by the communication link fault. According to the method, the state of the multi-single-connecting-rod mechanical arm system can be kept consistent and stable tracking control can be achieved under the condition that communication link faults and nonlinear uncertainty exist without global information.

The invention defines an Internet of Things containerization virtual PLC system based on star flash. The system comprises a cloud server, at least one fog end node, a star flash wireless communication module and field end equipment, two normal forms are converted: 1, a dynamic migration normal form of control logic is realized, and a PLC is not a static entity bound to specific hardware but a control unit capable of flexibly scheduling and seamlessly migrating among computing power nodes through containerization and thermal migration technologies, so that the system availability and the resource utilization rate are fundamentally improved; and 2, a wireless normal form of field communication initiatively establishes a star flash technology as a core communication link of a virtual PLC and field equipment, and a deterministic wireless link provided by the wireless normal form effectively solves the core bottleneck of uncontrollable time delay and reliability of the traditional wireless technology, so that industrial-grade control is possible to get rid of wired constraint. Through the synergistic effect of the two normal forms, the containerized virtual control system which is high in toughness and flexibility and extremely flexible in deployment, operation and maintenance is jointly formed.

The invention relates to the technical field of intelligent control, and discloses a flue gas waste heat intelligent regulation and control desulfurization and denitrification method and system and a medium. The method comprises the steps that smoke parameters are collected in real time through a sensor network, a digital twin virtual control object is established, virtual-real two-way synchronization is achieved through a state estimation fusion algorithm, multi-target prediction simulation verification is conducted on the basis of a synchronization reference, layered control is conducted on an execution mechanism according to response time, and an intelligent regulation and control instruction sequence is formed. The technical problems that an existing flue gas waste heat desulfurization and denitrification control system lacks a digital twinning driven virtual-real synchronous control mechanism, and multi-target collaborative optimization and layered execution control cannot be achieved are solved.

The invention belongs to the technical field of EL system control, and discloses a preset performance control method considering dynamic and constraint of an execution mechanism. The method comprises the following steps: firstly, establishing a system dynamics model considering dynamic and input saturation constraints of an executing mechanism; then, designing an asymmetric tubular performance boundary to restrain a system tracking error, and defining a conversion error according to the system tracking error; meanwhile, a disturbance observer based on immersion and invariance is designed, and composite disturbance is estimated. Furthermore, a tubular preset performance controller is designed by adopting a backstepping method, a virtual control law and an expected torque are constructed, and a multi-state auxiliary system is introduced to compensate the input saturation influence. And finally, a control instruction is generated by integrating the auxiliary system state, the virtual control law, the expected torque and the interference estimation value, and the control instruction acts on the system after being processed by a saturation function. According to the method, actuator dynamics, input saturation and external disturbance can be processed at the same time, and tracking errors are ensured to strictly follow a preset performance boundary.

The invention discloses a single-connecting-rod mechanical arm dynamic memory event triggering fixed time control method and system, and the method comprises the steps: describing a controlled system as a nonlinear system with state time lag and input time lag through modeling; introducing coordinate transformation based on a nonlinear system, and defining a tracking error; designing a virtual control law and an adaptive updating law through the defined tracking error; the stability of the control system is ensured by providing a dynamic memory event triggering mechanism, the system comprises a sensor module, a communication module, a control system and a man-machine interaction module, and the dynamic memory event triggering control mechanism in the method is used as a novel nonlinear control strategy, so that network resources and data transmission can be saved, and the system reliability is improved. The designed fixed time control strategy enables the system to achieve stable control within strictly specified time by accurately presetting the convergence time boundary, the response speed is remarkably improved, and the method is particularly suitable for industrial automation scenes with strict requirements for time precision.

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 relates to a digital twin virtual debugging method for jet printing manufacturing control optimization, and belongs to the technical field related to intelligent manufacturing and industrial control. Comprising the following steps: configuring a control logic program for each equipment sub-module in a jet printing manufacturing equipment twin model through an equipment master controller, and writing the control logic program into a corresponding virtual controller; establishing communication connection between each virtual controller and the twin model, verifying a control logic program in the virtual controller, and verifying and optimizing the control logic program through general control; and inputting each optimized control logic program into the entity controller of the corresponding equipment sub-module, sending a control instruction to the entity controller corresponding to the equipment sub-module of which the current motion is to be verified through general control, driving the equipment sub-module to execute an action, optimizing the control logic program in the current entity controller through the general control, and verifying the current motion of the equipment sub-module. And through multi-round program optimization, a control program of the jet printing manufacturing equipment is obtained. The debugging time and cost of the ink-jet printing equipment can be reduced.

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 provides a vehicle-mounted system simulation platform, and relates to the technical field of simulation testing, and the simulation platform comprises an interception layer, a simulation layer, a communication layer and a vehicle-mounted intermediate layer service. The interception layer is used for intercepting interface calling of a vehicle-mounted intermediate layer service and forwarding calling parameters to the simulation layer; the simulation layer is used for abstracting a hardware opponent component corresponding to the calling parameter into a virtual control and generating an analog signal based on the virtual control; the communication layer is used for performing data synchronization between the simulation layer and the interception layer; and the vehicle-mounted intermediate layer service is used for carrying out simulation debugging according to the analog signal, and is used for realizing simulation debugging without depending on entity hardware equipment.

The invention provides an unmanned surface vehicle course tracking control method with signal quantization based on a double-expansion observer, and the method comprises the steps: building a third-order response type unmanned surface vehicle course control mathematical model according to the characteristics of a ship and the sea condition information of a surrounding environment; designing a double-expansion observer model for simultaneously estimating matched interference and non-matched interference in the ship course tracking control system and observing uncertain items and external interference in the ship control system; based on a backstepping method and a dynamic surface control algorithm, a course controller of the unmanned surface vehicle is designed, and the calculation complexity brought by a virtual control law is reduced; based on the Lyapunov stability theory, the stability of the designed unmanned surface vehicle course tracking control system with state quantization and input quantization is proved, all signals in a closed-loop system are consistent and bounded in a semi-global mode, and the tracking error is arbitrarily small by adjusting parameters of a controller.

The invention discloses a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps that mixed reality MR equipment displays a virtual space model corresponding to a vehicle, and the virtual space model is generated according to the internal space information of the vehicle; if the control information of the target equipment in the vehicle is obtained, displaying a virtual control panel of the target equipment pair in the virtual space model; if the control operation for the virtual control panel is obtained, control parameters are sent to the vehicle so that the vehicle can correspondingly control the target equipment based on the control parameters, and the control parameters are determined according to the control operation, so that the three-dimensional interaction space of the vehicle-mounted scene is expanded through the vehicle-mounted MR equipment; a new and more intuitive interaction mode is expanded for the user to control the vehicle, and the operation intuition and immersive interaction experience of the user are improved.

The invention discloses a piezoelectric micro-positioning platform preset performance control method based on an extended state observer, and the method mainly comprises the steps: firstly, building a piezoelectric micro-positioning platform system model considering input hysteresis and unknown disturbance; secondly, designing an extended state observer based on a radial basis function neural network to estimate an unmeasurable state of the system and lumped disturbance containing input hysteresis; then, a preset performance function is used, so that the overshoot performance of the system is effectively improved; thirdly, in combination with a preset performance function, a first-order sliding mode differentiator and an expansion state observer, providing a virtual control law and an adaptive control law; and finally, a preset performance controller is utilized, a Lyapunov stability theory is combined, proper parameters are selected to ensure that the closed-loop system is kept stable within preset time, and tracking errors are controlled within a set error range.

The invention belongs to the technical field of robot control, and discloses a fuzzy adaptive control method and system for uncertain robot system constraints. A dead zone model is integrated into an uncertain robot kinetic equation, a robot system module is established, feedback joint displacement state information is output in real time through the robot system module, and unmeasurable speed and acceleration state information is processed through a filter module, a virtual controller module and a self-adaptive law module. And a virtual control signal and a fuzzy adaptive law parameter are obtained, and dynamic change information is obtained through a fuzzy logic system in a fuzzy adaptive controller module. According to the method, parameter uncertainty caused by unknown robot system parameters or uncertainty and dead zone characteristics caused by non-controlled object factors such as external disturbance are solved, and accurate tracking control of the system state under boundary constraint is realized.

The invention provides a motorcade active-disturbance-rejection control method and system with a variable time interval strategy. The method comprises the following steps: acquiring state information of each vehicle in a vehicle queue system; the leader vehicle and the following vehicle carry out information transmission; under the condition of considering external disturbance, a vehicle dynamics model referring to the Newton second law is established, and a variable time interval strategy is constructed; compensating unmodeled dynamic and external disturbances in the vehicle dynamics model by using a time-varying gain expansion state observer in an active disturbance rejection control technology, and constructing a virtual controller and an actual controller based on a backstepping method; and according to the constructed virtual controller and the actual controller, realizing position and speed synchronization of the following vehicle and the leading vehicle in the queue under the condition of considering unmodeled dynamics and external disturbance. According to the method, the non-smooth problem at the saturation threshold is solved, the fluctuation influence can be effectively reduced, the safety is guaranteed, and the passing efficiency is improved; and the problem of gain attenuation is solved while the high gain characteristic is reserved.

The invention relates to the technical field of intelligent control, and particularly discloses an intelligent control method and system for shell laser welding. The method comprises the steps that heat flow distribution characteristics on a welding path are collected to construct a heat saturation matrix; generating a transient thermal resistance factor adaptive to the current heat dissipation capability based on the thermal saturation matrix; carrying out advanced rolling prediction by utilizing the transient thermal resistance factor, and extracting a heat flow inflection point coordinate of which the rheological property of the molten pool is mutated; constructing a virtual control boundary independent of the physical inflection point; and when the welding displacement triggers the virtual control boundary, a pre-judgment type negative gain damping strategy is generated. The system comprises a heat flow collection module, a thermal resistance analysis module, a sudden change analysis module, a boundary construction module and a welding regulation and control module. According to the method, by constructing the advanced control strategy containing thermal hysteresis compensation, molten pool instability caused by heat accumulation can be restrained, and heat balance regulation and control in the welding process are achieved.

The present disclosure provides a display control method for a virtual object. The method includes: displaying, in a graphical user interface provided by a terminal device, a first virtual scene picture corresponding to a first scale; displaying, in the graphical user interface, a target virtual scene picture corresponding to a target scale and an object control in response to a first operation of switching the first scale to the target scale; and controlling, in response to a second operation on the object control, a virtual controlled object corresponding to the object control to move from a first virtual model to which the virtual controlled object belongs, to a second virtual model in the virtual model set.

The invention relates to the technical field of multi-agent control, in particular to a method and a system for realizing preset performance to control multiple agents based on a barrier function. The non-linear state observer is designed to estimate the unmeasurable state in the system in real time, the dependence of a traditional control strategy on full-state information is broken through, and the adaptability and robustness of the system are improved. Besides, the inclusion error is constrained through the obstacle function, and the inclusion error is limited in a limit range, so that a preset performance constraint problem is converted into a bounded problem of the obstacle function. Explicit constraint is carried out on convergence time and range including errors through a preset performance function, and the dual requirements for rapidity and precision in an actual task are met. And a filter is introduced to replace a high-order virtual controller for derivation, so that the design complexity of the controller is effectively reduced, and the engineering implementability of the algorithm is improved.