59results about How to "Realize limited time control" patented technology

The invention discloses a direct-current motor finite time control method based on an inhomogeneous Markov model. The method includes following steps: collecting running parameters of a direct-currentmotor in various working conditions; according to the running parameters, establishing a mapping relation between direct-current motor working condition jumping and an inhomogeneous Markov chain; onthe basis of the mapping relation, establishing a direct-current motor system state equation based on the inhomogeneous Markov model and building a controller based on a full-dimensional observer; establishing an augmentation closed-loop system equation containing direct-current motor system state and observer state; according to the direct-current motor system state equation, determining a criterion judging that the direct-current motor is stable and bounded in finite time; utilizing a LMI toolkit in MATLAB to solve upper bound when an augmentation closed-loop system meets the criterion; outputting the upper bound with bounded finite time of the augmentation closed-loop system. By the method, stability of the direct-current motor can be improved effectively, control effect worsening of the direct-current motor under impact of adverse factors like complex and severe environment can be prevented, and stable running of the direct-current motor is ensured.

The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic tangent enhanced exponential approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamicsmodel is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic tangent enhanced exponential approaching law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, the speed and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.

Provided is an adaptive control method of a quad-rotor aircraft based on the sliding mode surface of an index enhanced double-power reaching law and a rapid terminal. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the quad-rotor aircraft to an inertia coordinate system based on the earth is determined; 2) a dynamic model of the quad-rotoraircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the sliding mode surface of the rapid terminal and a first-order derivative thereof. Sliding mode control via the index enhanced double-power reaching law is combined with sliding mode control of the rapid terminal, the reaching speed is increased when being far from the sliding mode surface, jittering is reduced, a system is rapider and more robust, rapid and stable control is realized, the tracking error is controlled in limit time, and the problem that the tracking error reaches 0 only if time reaches infinite in a traditional sliding mode surface. The interference boundary is estimated via adaption, and the system stability is improved.

The invention relates to an adaptive control method for a four-rotor aircraft based on an enhanced bipower reaching law of an inverse proportional function and a rapid terminal sliding mode surface. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the four-rotor aircraft to the earth based inertia coordinate system is determined; 2) a dynamic model of the four-rotor aircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the rapid terminal sliding mode surface and a first-order derivative thereof. According to the method, sliding mode control of the enhanced bipower reaching law of the inverse proportional function is combined with rapid terminal sliding mode control, the reaching speed can be increased far from the sliding mode surface, buffeting is reduced, the system is rapider and more robust, rapid and stable control is realized, the trackingerror is controlled with limited time, and the problem that the tracking error tends to 0 only when time tends to infinite in a traditional sliding mode surface is solved. The interference boundary isestimated via adaption, and the system stability is improved.

The invention relates to a four-rotor aircraft self-adaptive control method based on a hyperbolic sine exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, adynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding modesurface and a first-order derivative thereof. According to the method, the hyperbolic sine exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode controlare combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

The invention relates to a self-adaptive control method for a four-rotor aircraft based on an arc tangent-enhanced double-power reaching law and a rapid terminal sliding mode surface. The method comprises the following steps: (1) determining a transfer matrix from a body coordinate system based on the four-rotor aircraft to an inertial coordinate system based on the earth; (2) analyzing a kineticmodel of the four-rotor aircraft based on a Newton-Euler's formula; and (3) calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative of the rapid terminal sliding mode surface. According to the method, by combining arc tangent-enhanced double-power reaching law sliding mode control with rapid terminal sliding mode control, the reaching speed can be increased in a place far from the sliding mode surface, and the material vibration can be reduced, so that the rapidness and robustness of a system can be improved, and the rapid and stable control is realized; and meanwhile, the finite time of the tracking error can be controlled, so that the problem that the tracking error tends to be 0 only when the time tends to be infinite in a traditional sliding mode surface is solved; and meanwhile, an interfered boundary is estimated in a self-adapting manner, so that the stability of the system is improved.

The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method includes thefollowing steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model ofthe four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface and a first-order derivative thereof. According to the method, the exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode control are combined so that the reachingspeed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable controlcan be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity ina traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

Provided is a four-rotor aircraft finite time control method based on an inverse-proportion function enhanced constant-speed reaching law and a rapid terminal sliding mode surface. The method includesfollowing steps: step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on earth; step 2, analyzing a kinetic modelof the four-rotor aircraft according to a Newton Euler's formula; and step 3, calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative thereof. For a four-rotor aircraft system, with the combination of the enhanced constant-speed reaching law sliding mode control based on an inverse-proportion function and the rapidterminal sliding mode surface control, the reaching speed can be increased when being far from the sliding mode surface, the buffeting can be reduced, the rapidity and the robustness of the system areimproved, rapid and stable control can be realized, finite time control of the tracking error can be realized, and the problem that in the conventional sliding mode surface, only when the time reaches infinity, the tracking error can reach 0 is solved.

The invention relates to a four-rotor aircraft adaptive control method based on a logarithmical enhancement type fast power approaching law and a fast terminal sliding mode surface. The method includes the following steps that: step 1, a transfer matrix from a four-rotor aircraft-based aircraft body coordinate system to an earth-based inertia coordinate system is determined; step 2, a four-rotor aircraft dynamic model is analyzed according to Newton-Euler formula; and step 3, a tracking error is calculated, a controller is designed according to the fast terminal sliding mode surface and the first-order derivative thereof. According to the method of the invention, the logarithmical enhancement type fast power approaching law sliding mode control and fast terminal sliding mode control are used in combination, therefore, approaching speed can be increased when a system is far away from a sliding mode surface, buffeting can be decreased, the rapidity and robustness of the system can be improved, fast and stable control can be realized, finite time control of the tracking error can be realized, and a problem that a tracking error can be approximately 0 provided that the time tends to beinfinite in a traditional sliding mode surface can be solved; and the boundary of interference is estimated adaptively, so that the stability of the system is improved.

The invention relates to a four-rotor aircraft adaptive control method based on the arctangent enhanced fast power approach law and the fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on a four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamics model is analyzedaccording to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and the first derivative thereof. The method is advantaged in that arctangent-based enhanced fast power approach law sliding mode control and fast terminal sliding mode control are combined, not only can the approach speed be enhanced in astate of being away from the sliding mode surface, but also chattering can be reduced, system speedability is improved, fast and stable control is realized, finite time control of the tracking error can be further realized, a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved, through adaptively estimating the interference boundary, stability of the system is improved.

The invention discloses an adaptive control method for a quadrotor aircraft based on a hyperbolic tangent enhanced constant-speed approach law and a fast terminal sliding mode surface. The method comprises the following steps: 1, determining a transfer matrix from a body coordinate system based on the quadrotor aircraft to an inertial coordinate system based on the earth; 2, analyzing a quadrotoraircraft kinetic model according to the Newton-Euler equation; 3, calculating a tracking error, and designing a controller according to the fast terminal sliding mode surface and a first-order derivative thereof. The method combines the hyperbolic tangent enhanced constant-speed approach law control and the fast terminal sliding mode control, so the method can increase the approach speed during departing from the sliding mode surface, also can reduce the jitter, improves the quickness and robustness of the system, achieves the quick and stable control, also can achieve the finite time controlof the tracking error, and solves a problem that only when time approaches to infinity in the conventional sliding mode surface, can the tracking error approach to zero. Meanwhile, the method achievesthe adaptive estimation of the boundary of interference, and improves the stability of the system.