46 results about "Nonlinear robust control" patented technology

The invention discloses a nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at a nonlinear model of a quad-rotor unmanned plane. A sliding mode controller of a speed-constant reaching law is designed to an attitude angle system of the quad-rotor unmanned plane, and rapid tracking for the attitude angle is ensured. To realize track tracking for the spatial position of the quad-rotor unmanned plane, a sliding mode surface and a virtual control quantity are constructed according to a stepping back control idea to realize nonlinear control law design and system stability design from the kernel to the external layer of a system. After an equation of the related virtual control quantity is obtained, an expected track value of the attitude angle is obtained by solving the equation via arithmetic inverse operation, and a design method of the speed-constant reaching law is used to determine a final input control law of the quad-rotor unmanned plane system. According to the method of the invention, the characteristic that sliding mode control is uncertain for the model and insensitive to external interference is utilized, robust trace tracking for the nonlinear quad-rotor unmanned plane can be controlled under interference.

An unmanned aerial vehicle (UAV) is provided with a plurality of synthetic jet actuators and a nonlinear robust controller. The controller compensates for uncertainty in a mathematic model that describes the function of the synthetic jet actuators. Compensation is provided by the use of constant feedforward best guess estimates that eliminate the need for more highly computationally burdensome approaches such as the use of time-varying adaptive parameter estimation algorithms.

The invention discloses a robust adaptive control (RAC) method of an electro-hydraulic position servo control system for simultaneously considering uncertainty of matching and mismatching. The method is fused with an adaptive control (AC) method; the inverse design is performed through skillfully designing a nonlinear robust control law and using the continuously differentiable properties, so that the parameter estimation of the system is not affected under the condition that the system has parameter uncertainty, uncertainty nonlinearity of matching and mismatching; the performance of asymptotically tracking can be obtained. Through the disclosed control method, the robustness of the traditional adaptive control on the uncertainty nonlinearity of external load disturbance is increased; the uncertainty nonlinearity of matching and mismatching can be simultaneously treated; an excellent tracking performance can be obtained.

The invention discloses a robustness self-adaptive control (RAC) method of a direct driving motor system. Based on a conventional adaptive control (AC) method, through designing a nonlinear robustness control law, parameter estimation of the system is enabled to be unaffected and the system can obtain an asymptotic tracking property under the condition that parameter uncertainty and uncertain nonlinearity exist simultaneously. The RAC method of the direct driving motor system can enhance the robustness of conventional AC for the uncertain nonlinearity such as external load interference and the like so as to obtain better tracking performance.

The invention belongs to the field of miniature rotor type unmanned aerial vehicle autonomous flight control and research, and provides a method for controlling an unmanned aerial vehicle and for making an unmanned helicopter quickly and accurately stabilized and controlled. A controller less depends on prior knowledge of models and has good robustness on uncertainty of a system. According to the technical scheme, a nonlinear robust control method of the posture of the single-rotor unmanned helicopter based on fuzzy feedforward includes the following steps that firstly, the form of a single-rotor unmanned helicopter dynamical model and the form of a single-rotor unmanned helicopter posture dynamical model are as follows; secondly, the nonlinear semicontinuous robust controller based on fuzzy feedforward is designed (img file=' DDA0000463767750000011.TIF' wi=' 754' he=' 72' / ) ( / maths). The method is mainly applied to the design and manufacture of the miniature rotor type unmanned aerial vehicle.

The invention relates to a control method, in particular to a control method for an automotive active suspension system. The problem that design models are simple, and single-target control is mainly adopted in the conventional suspension control technologies, so that external uncertain disturbance and unmodeled dynamics cannot be coped with is solved. The control method specifically comprises the following steps of: establishing a nonlinear active suspension model; designing a nonlinear robust controller; and regulating gains k1, k2, epsilon1 and epsilon2 to ensure that all constraints are limited within a permissible range, namely to realize constraint control. The control method is used for the control and the stabilization of the automotive active suspension system.

The invention belongs to the field of multi-rotor unmanned aerial vehicle loading transport control study and provides a set of nonlinear robust control algorithm for a multi-rotor unmanned aerial vehicle suspension loading system so as to improve the control robustness and control accuracy of the system under strong alternating wind disturbance. According to the technical scheme, the disturbance rejection control method for the unmanned aerial vehicle suspension loading system disclosed by the invention comprises the following steps: constructing a dynamitic model of the multi-rotor unmanned aerial vehicle suspension loading system; designing a disturbance observer; performing mathematical derivation so as to obtain an observation model of the disturbance observer based on a kinematical equation of the provided multi-rotor unmanned aerial vehicle suspension loading system. The method disclosed by the invention is mainly applied to the occasion of multi-rotor unmanned aerial vehicle loading transport control.

The invention discloses an adaptive robust force control method of simplified periodic disturbance compensation, and belongs to the field of electro-hydraulic servo control. The control method comprises the following steps: building a mathematical model of a load simulator; determining the adaptive rate of the parameters of the load simulator; and designing an adaptive robust force controller of simplified periodic disturbance compensation. The parameter uncertainty of the system and the uncertainty nonlinearity of external disturbance are considered in the method. In view of parameter uncertainty, a continuous projection function is used in estimation to ensure that the estimated value is within the range of parameter uncertainty. The method has the advantage of accurate parameter estimation. By using a fast dynamic compensation method, the defect that the output tracking performance is poor in adapting is overcome. A good simulation result is obtained in terms of both parameter estimation and tracking error. The nonlinear robust controller designed in the invention has continuous control voltage, and can be easily applied to practical engineering.

The invention relates to a quad-rotor unmanned aerial vehicle reinforcement learning nonlinear attitude control method, and aims to solve a problem of quad-rotor unmanned aerial vehicle attitude control of a quad-rotor unmanned aerial vehicle dynamical model with an unmodeled part; and a reinforcement learning controller based on an execution-evaluation neural network is designed for estimating the unmodeled part of the model. And meanwhile, a nonlinear robust controller based on multivariable super-twisting is designed, so that stable attitude control of the quadrotor unmanned aerial vehicleis realized.

The invention discloses an electro hydraulic load simulator self-adaptive robust force control method. For the system characteristics of an electro hydraulic load simulator, the friction characteristic of the system is analyzed through friction identification. A system nonlinear mathematical model which comprises a continuous differentiable friction model is established. Based on a traditional self-adaptive control method, a nonlinear robust control law is designed. The parameter estimation of the system is not affected in the presence of parametric uncertainties and uncertain nonlinearities, and an asymptotic tracking performance is acquired. According to the electro hydraulic load simulator self-adaptive robust force control method provided by the invention, the robustness of uncertain nonlinearities of traditional external load disturbance self-adaptive control and the like is enhanced to acquire a better tracking performance.

The invention discloses an expect compensation type adaptive robust force control method for periodic interference, and belongs to the field of electro-hydraulic servo control. The method comprises the following steps: building a mathematical model of a load simulator; determining an adaptive rate of a parameter of the load simulator; designing a controller for the expect compensation type adaptive robust force control method for the periodic interference. The expect compensation type adaptive robust force control method for periodic interference can estimate the parameter accurately; by adoption of a quick and dynamic compensation method, the shortcoming of relatively low output tracking property during adaptation is overcome, and the relatively good simulation effect can be achieved on both parameter estimation and a tracking error. The control voltage of a nonlinear robust controller designed by the method is continuous, so that the nonlinear robust controller can be applied to engineering practice favorably.

The invention relates to a nonlinear robust control over a small unmanned helicopter, and provides a constant nonlinear robust control method. The aim is realized that the small unmanned helicopter can still keep a flight posture stable under the conditions of system parameter uncertainty and external interference. In this way, in the adopted technical scheme, the nonlinear robust control method for posture control of the small unmanned helicopter is used for posture system control of the small unmanned helicopter on the basis of a robust control algorithm for an error sign function integral and in combination with a neural network algorithm. The nonlinear robust control method is mainly applied to nonlinear control occasions of the small unmanned helicopter.

The invention provides an SSSC novel nonlinear robust control system comprising a measurement module, a signal analog transformation module, a comparison module, a state space transition module, a central control module, a state space inverse transformation module, a voltage source converter gate trigger and control module and an SSSC module. The signal output end of the measurement module is connected with the signal input end of the SSSC module through the signal analog transformation module, the comparison module, the state space transition module, the control module, the state space inverse transformation module and the voltage source converter gate trigger and control module in turn. The signal output end of the SSSC module is connected with a power transmission system. The nonlinear robust control method is a continuous control method with no requirement for using a boundary function so that the nonlinear physical structure characteristics of a controlled object SSSC can be fully maintained and utilized and real-time control of the SSSC can also be performed.

The present invention provides a novel non-linear robustness control system of a unified power flow controller. The system comprises a measurement module, a signal simulation transformation module, a comparison module, a state space conversion module, a central control module, a state space inverse transformation module, a voltage source converter gate trigger and control module and a UPFC module. The signal output end of the measurement module is connected with the signal input end of the UPFC module through the signal simulation transformation module, the comparison module, the state space conversion module, the central control module, the state space inverse transformation module and the voltage source converter gate trigger and control module in order, and the signal output end of the UPFC module is connected with a power transmission system. The non-linear robustness control method provided by the invention is a continuous control method with no need for boundary functions, and is able to fully maintain and utilize the non-linear physical structure characteristics of a controlled object UPFC and realize the real-time control of the UPFC.

The invention discloses an adaptive RISE control method of a load simulator based on a novel model, and belongs to the field of electro-hydraulic servo control. According to the control method, nonlinearity including parameter nondeterminacy of a system and external interference are taken into consideration, a continuous projection function is used to estimate the parameter nondeterminacy, and itis ensured that an estimated value is within the range of parameter nondeterminacy; a continuous RISE controller is designed for the nondeterminacy nonlinearity including external interface, and an asymptotic tracking theoretical result is obtained. The method has the advantage of accurate parameter estimation, a rapid dynamic compensation method is used to overcome the defect of relatively low output tracking performance in adaption, and a better simulation result can be obtained in the aspects of parameter estimation and error tracking; and the control voltage of the designed nonlinear robust controller is continuous, and the method can be applied to engineering practicality.

The invention discloses an unmanned aerial vehicle modal conversion nonlinear control method, equipment and a medium, and belongs to the field of unmanned aerial vehicle control. The method comprises the following steps: establishing an uncertainty parameter model with a convex polyhedron; designing a nonlinear robust state feedback H-infinity controller; converting a control design problem into a quadratic sum convex optimization problem; solving a controller, and building a simulation platform; according to the method, parameter perturbation is firstly limited in a convex polyhedron set, namely, the parameter perturbation is expressed as convex polyhedron uncertainty, and a novel nonlinear robust H-infinity control method based on the quadratic sum is correspondingly designed; according to the method, modal conversion control of the tilt-rotor unmanned aerial vehicle can be well realized, and the method has relatively high robustness on external disturbance and parameter perturbation; according to the method, the dynamic characteristics of the tilt-rotor unmanned aerial vehicle in the mode conversion stage are described by adopting the convex polyhedron uncertain nonlinear variable parameter model, the nonlinearity, time variation and uncertainty of the tilt-rotor unmanned aerial vehicle can be described more accurately, and the reliability and action range of the overall control design are improved.

The invention discloses a synchronous generator excitation control method. A shutter sampling mode is employed, A voltage and a current output by a generator are sampled, and a non-linear robustness control algorithm is employed to calculate an excitation driving signal; the shutter sampling mode means one or more times of sampling is carried out in each rotating speed cycle based on a generator rotating speed signal, and voltage and current instantaneous value data is sampled. The defect of long sampling delay time of a traditional voltage sampling mode is overcome. The sensing speed of voltage transformation of an output end of a generator is raised fundamentally, and therefore the excitation control speed is raised. The non-linear robustness control algorithm means that with a set generator output voltage goal value Uref and various characteristic parameters of a generator as basic parameters, combined with voltage and current instantaneous value data collected in a shutter sampling mode, an excitation driving signal u is calculated. The method is suitable for non-linear characteristics of a synchronous generator and ensures stable output voltage of a synchronous generator.

The invention discloses an electro hydraulic load simulator self-adaptive robust force control method. For the system characteristics of an electro hydraulic load simulator, the friction characteristic of the system is analyzed through friction identification. A system nonlinear mathematical model which comprises a continuous differentiable friction model is established. Based on a traditional self-adaptive control method, a nonlinear robust control law is designed. The parameter estimation of the system is not affected in the presence of parametric uncertainties and uncertain nonlinearities, and an asymptotic tracking performance is acquired. According to the electro hydraulic load simulator self-adaptive robust force control method provided by the invention, the robustness of uncertain nonlinearities of traditional external load disturbance self-adaptive control and the like is enhanced to acquire a better tracking performance.

The present invention provides a novel non-linear robustness control system of a unified power flow controller. The system comprises a measurement module, a signal simulation transformation module, a comparison module, a state space conversion module, a central control module, a state space inverse transformation module, a voltage source converter gate trigger and control module and a UPFC module. The signal output end of the measurement module is connected with the signal input end of the UPFC module through the signal simulation transformation module, the comparison module, the state space conversion module, the central control module, the state space inverse transformation module and the voltage source converter gate trigger and control module in order, and the signal output end of the UPFC module is connected with a power transmission system. The non-linear robustness control method provided by the invention is a continuous control method with no need for boundary functions, and is able to fully maintain and utilize the non-linear physical structure characteristics of a controlled object UPFC and realize the real-time control of the UPFC.

The invention provides a novel nonlinear robust control system for an SVG (Static Var Generator). The control system comprises a measurement module, a signal simulation and conversion module, a comparison module, a state space conversion module, a central control module, a state space reverse transformation module, a voltage source converter gate triggering and control module and an SVG module, wherein a signal output end of the measurement module is connected with a signal input end of the SVG module through the signal simulation and conversion module, the comparison module, the state space conversion module, the central control module, the state space reverse transformation module and the voltage source converter gate triggering and control module in sequence; and a signal output end of the SVG module is connected with a power transmission system. A nonlinear robust control method provided by the invention is a continuous control method, so that a boundary function does not need to be utilized and not only can the nonlinear physical structure property of the controlled object-SVG be fully kept and utilized but also the SVG can be controlled in real time.

The invention discloses a nonlinear robust control method of an underwater hydraulic mechanical arm based on an expansion observer. The method includes: establishing a system nonlinear dynamics model of the underwater hydraulic manipulator; establishing a nonlinear robust control law of the underwater hydraulic manipulator to obtain a nonlinear robust controller of the underwater hydraulic manipulator; establishing an underwater hydraulic manipulator The expansion observer of the arm obtains the angular velocity observation value and the unmeasurable time-varying disturbance observation value of the underwater hydraulic manipulator; the angular velocity observation value, the unmeasurable time-varying disturbance observation value and the tracking error value obtained by the sensor measurement are real-time Feedback to the nonlinear robust controller, the nonlinear robust controller controls the underwater hydraulic manipulator, forming a complete closed-loop control system of the underwater hydraulic manipulator, realizing the nonlinear robust controller without angular velocity sensor Efficient control of underwater hydraulic manipulators. The invention solves the problem that the control precision of the underwater hydraulic mechanical arm is not high in the existing control method.

The invention discloses an underwater hydraulic mechanical arm nonlinear robust control method based on an expansion observer. The method comprises the steps that a system nonlinear dynamic model of the underwater hydraulic mechanical arm is established; a nonlinear robust control law of the underwater hydraulic mechanical arm is established, and a nonlinear robust controller of the underwater hydraulic mechanical arm is obtained; an expansion observer of the underwater hydraulic mechanical arm is established, and an angular velocity observation value and an unmeasurable time-varying disturbance variable observation value of the underwater hydraulic mechanical arm are obtained; and the angular velocity observation value, the unmeasurable time-varying disturbance variable observation value and a tracking error value obtained through measurement of a sensor are fed back to the nonlinear robust controller in real time, the nonlinear robust controller controls the underwater hydraulic mechanical arm, and a complete underwater hydraulic mechanical arm closed-loop control system is formed. Effective control of the nonlinear robust controller on the underwater hydraulic mechanical arm under the condition of no angular velocity sensor is achieved. The problem that an existing control method is not high in control precision of the underwater hydraulic mechanical arm is solved.

The invention relates to a quad-rotor unmanned aerial vehicle landing control technology, and provides a robust controller based on a nonlinear disturbance observer, so that interference of a ground effect on an unmanned aerial vehicle can be well suppressed in a quad-rotor unmanned aerial vehicle landing process. According to the technical scheme adopted by the invention, the quad-rotor unmanned aerial vehicle landing control method based on the nonlinear disturbance observer comprises the following steps: establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle landing process, designing a nonlinear terminal sliding mode finite time convergence observer, and designing a nonlinear robust controller to realize landing control of the quad-rotor unmanned aerial vehicle. The quad-rotor unmanned aerial vehicle landing control method is mainly applied to quad-rotor unmanned aerial vehicle landing control occasions.

The invention discloses a load simulator adaptive RISE control method based on a new model, which belongs to the field of electro-hydraulic servo control; the control method simultaneously considers the uncertainty of system parameters and uncertain nonlinearities such as external disturbances, and is aimed at The parameter uncertainty is estimated by continuous projection function to ensure that the estimated value is within the range of parameter uncertainty; the continuous RISE controller is designed nonlinearly for external disturbance and other uncertainties, and the theoretical result of asymptotic tracking is obtained. The present invention has the advantage of accurate parameter estimation, adopts the method of fast dynamic compensation to overcome the shortcoming of poor output tracking performance in self-adaptation, and can obtain better simulation results in terms of parameter estimation and tracking error; The control voltage of the designed nonlinear robust controller is continuous, which is beneficial to the application in engineering practice.

The invention belongs to the field of miniature rotor type unmanned aerial vehicle autonomous flight control and research, and provides a method for controlling an unmanned aerial vehicle and for making an unmanned helicopter quickly and accurately stabilized and controlled. A controller less depends on prior knowledge of models and has good robustness on uncertainty of a system. According to the technical scheme, a nonlinear robust control method of the posture of the single-rotor unmanned helicopter based on fuzzy feedforward includes the following steps that firstly, the form of a single-rotor unmanned helicopter dynamical model and the form of a single-rotor unmanned helicopter posture dynamical model are as follows; secondly, the nonlinear semicontinuous robust controller based on fuzzy feedforward is designed (img file=' DDA0000463767750000011.TIF' wi=' 754' he=' 72' / ) ( / maths). The method is mainly applied to the design and manufacture of the miniature rotor type unmanned aerial vehicle.

The invention relates to a method and system for parameter setting of a Tornambe type nonlinear robust controller as well as the Tornambe type nonlinear robust controller. The method comprises the following steps that: firstly, initial values of to-be-set parameters of the Tornambe type nonlinear robust controller are set, wherein values of other to-be-set parameters except k0 and k r-1 are 0; secondly, a controlled object is controlled and operated and whether the output of the controlled object is stable or not is determined; and if not, the k r-1 is adjusted until the output of the controlled object is stable; thirdly, whether an overshoot which the output of the controlled object responds to is in an expected range of a preset overshoot is determined; and if not, the k0 is adjusted until the overshoot which the output of the controlled object responds to is in expected range of the preset overshoot; and fourthly, the above-mentioned process is repeated until a performance index of the controlled object meets a preset expected performance index value. According to the invention, the efficiency of a parameter setting process of the Tornambe type nonlinear robust controller is improved; the method for parameter setting of the Tornambe type nonlinear robust controller is engineered; and the Tornambe type nonlinear robust controller can be applied to an actual industrial control process conveniently.

The invention discloses an adaptive robust force control method of simplified periodic disturbance compensation, and belongs to the field of electro-hydraulic servo control. The control method comprises the following steps: building a mathematical model of a load simulator; determining the adaptive rate of the parameters of the load simulator; and designing an adaptive robust force controller of simplified periodic disturbance compensation. The parameter uncertainty of the system and the uncertainty nonlinearity of external disturbance are considered in the method. In view of parameter uncertainty, a continuous projection function is used in estimation to ensure that the estimated value is within the range of parameter uncertainty. The method has the advantage of accurate parameter estimation. By using a fast dynamic compensation method, the defect that the output tracking performance is poor in adapting is overcome. A good simulation result is obtained in terms of both parameter estimation and tracking error. The nonlinear robust controller designed in the invention has continuous control voltage, and can be easily applied to practical engineering.

The invention relates to a control method, in particular to a control method for an automotive active suspension system. The problem that design models are simple, and single-target control is mainly adopted in the conventional suspension control technologies, so that external uncertain disturbance and unmodeled dynamics cannot be coped with is solved. The control method specifically comprises the following steps of: establishing a nonlinear active suspension model; designing a nonlinear robust controller; and regulating gains k1, k2, epsilon1 and epsilon2 to ensure that all constraints are limited within a permissible range, namely to realize constraint control. The control method is used for the control and the stabilization of the automotive active suspension system.

The invention relates to a method and system for parameter setting of a Tornambe type nonlinear robust controller as well as the Tornambe type nonlinear robust controller. The method comprises the following steps that: firstly, initial values of to-be-set parameters of the Tornambe type nonlinear robust controller are set, wherein values of other to-be-set parameters except k0 and k r-1 are 0; secondly, a controlled object is controlled and operated and whether the output of the controlled object is stable or not is determined; and if not, the k r-1 is adjusted until the output of the controlled object is stable; thirdly, whether an overshoot which the output of the controlled object responds to is in an expected range of a preset overshoot is determined; and if not, the k0 is adjusted until the overshoot which the output of the controlled object responds to is in expected range of the preset overshoot; and fourthly, the above-mentioned process is repeated until a performance index of the controlled object meets a preset expected performance index value. According to the invention, the efficiency of a parameter setting process of the Tornambe type nonlinear robust controller is improved; the method for parameter setting of the Tornambe type nonlinear robust controller is engineered; and the Tornambe type nonlinear robust controller can be applied to an actual industrial control process conveniently.