81 results about "Tracking error convergence" patented technology

The invention discloses an under-actuated water surface ship control method satisfying preset tracking performance. Aiming at an under-actuated water surface ship nonlinear dynamic model, tracking error steady state precision and a transient state performance index are designed, a transverse function is built to introduce extra control input, and design of a tracking controller is completed, thereby ensuring that a tracking error of a closed-loop control system converges to a preset arbitrarily small area, and ensuring that the convergence rate and overshoot satisfy preset requirements. The method specifically includes the following steps: establishing an under-actuated water surface ship dynamic model; designing steady state performance and transient state performance requirements of a control system; designing a speed error equation to introduce extra control; designing a disturbance observer to compensate external time-varying disturbance; and designing a state feedback tracking controller. The control method designed by the invention can solve the problem of under-actuated water surface ship motion control, realize tracking control of any smooth reference trajectory, and improve tracking error steady state performance and transient state performance of the control system.

The invention relates to a time-varying rotational inertia considered adaptive fault tolerance control method of spacecraft attitude. The method comprises that a dynamic spacecraft attitude tracking model which does not take faults of a performer into consideration but includes external disturbance and a time-varying rotational inertia is established, and a time-varying rotational inertia model isestablished; and on the basis of the dynamic spacecraft attitude tracking model, a nominal controller and corresponding adaptive laws are designed, and the system stability and tracking error convergence without faults are ensured; and the performance fault is added to the dynamic spacecraft attitude tracking model, an auxiliary controller is designed on the basis of the nominal controller, the problem that a fault occurs in the performer, the time-varying rotational inertia exists and the spacecraft is influenced by an external disturbance moment during on-orbit work of the spacecraft is solved, and the fault tolerant capability and robustness of the system are ensured.

The invention discloses a mechanical arm trajectory tracking method based on a fractional-order adaptive nonsingular terminal sliding mode. By designing switching control of uncertainty upper bound adaptive rate and the fractional-order adaptive nonsingular terminal sliding mode, the system state is allowed to converge to a sliding mode surface faster; and through sliding mode features of the nonsingular terminal sliding mode surface, the system state is allowed to converge to a balance point faster in a limited time, that is, tracking error is converged to 0, thereby realizing tracking of expected joint angle trajectory.

The invention discloses a terminal sliding mode manipulator trajectory tracking method based on fractional order power reaching law. By designing adaptive rate to an upper bound of uncertainty and switching control of fractional order powder reaching, system state may be converged more quickly to a sliding mode surface; through sliding mode characteristics of a nonsingular quick terminal sliding mode surface, the system state is converged more quickly to a balance point within limited time, namely, a tracking error is converged to 0; therefore, tracking an expected joint angular trajectory isachieved.

The invention relates to a repetitive controller of a position servo system. Reference signals with symmetrical periods are generated in a given link; a cycle feedback link is constructed; an ideal error dynamic state is formed based on the discrete time unit vector serialized attraction law; according to an error dynamic equation, a signal conversion mould is constructed, and an output signal of the signal conversion mould is applied to correction of the repetitive controller; and a signal obtained through the computation of a current controller is taken as input of a servo object. A specific controller parameter setting operation can be carried out according to indexes of convergence performance of a representation system, and a monotone decreasing area, an absolute attraction layer and a steady-state error band boundary of a representation trace error convergence process are provided. A closed-loop system can completely eliminate cyclically symmetric interference signals and realize that the position servo system follows the change of reference signals. The invention provides a cyclically repetitive controller capable of remarkably reducing the occupied space of a memory, effectively restraining the symmetric interference and improving the control precision.

The invention discloses a half period repetitive control method based on an attractive rule. The method comprises the following steps of giving a reference signal provided with half period symmetry, and according to an output signal obtained by detection, generating a tracking error signal through a comparing module; providing an exponential attractive rule provided with limited time attraction characters, and forming an ideal error trend; according to the limited time attraction characters, constructing an e / v signal conversion module; and constructing a half period feedback link, and forming a repetitive control signal. A control signal provided by a repetitive controller serves as a controlled servo object to be input, and the method achieves the aim that a position servo system changes along with the parameter signal by completely removing half period symmetry interference signals. Specific controller parameter setting work can be carried out according to an index of convergence performance of a representation system, and a monotonous reduction region, an absolute attraction layer and a steady state error band border of the representation tracking error convergence process are provided.

The invention discloses a raw material grinding automatic control method. In an automatic state, During amplitude control of a lifting and falling roller, an amplitude scope is tested mainly through observation and lifting and falling operation of a grinding roller is carried out. During control of water pump opening, operation conditions of a material layer thickness and a mill output temperature are integrated, a pid fuzzy control operation method is employed, and the water pump opening value is adjusted to achieve stabilization control effects. During the feed control link, feed quantity is controlled according to a current of a milling machine and a current of a powder selection machine and furthermore the current and the amplitude of the milling machine are stabilized. The problem that parameter adjustment cannot be tracked rapidly in a routine PID is avoided, according to characteristics that fuzzy control is independent from an accurate mathematic model and suitable for non-linear and large time delay production processes, by utilization of fuzzy PID and Bang-Bang control methods, a tracking error convergence speed is quickened, thus the vertical milling control process has a stable dynamic performance, milling machine vibration is reduced, the yield is raised and accurate and rapid control effects are achieved.

The invention provides a trajectory updating integrated prediction ILC algorithm under restricted conditions, and aims at problems in point-to-point tracking control in an intermittent process. Under the condition that input and output of a controlled system are restricted (including restriction of the direct input size, restriction of input change in time and batch orientations and restriction of the output size), trajectory tracking and error convergence tracking are realized, the advantage that a trajectory update algorithm takes both time orientation performance and utilization of the freedom degree of non-key points into consideration is reserved, the convergence speed is higher and the tracking error is lower compared with a traditional algorithm, input and output restricted conditions are taken into consideration, and the tracking error is lower, the anti-interference capability is higher and the application range is wider compared with a restriction-free trajectory update algorithm.

The invention provides a discrete repetition control method for a motor servo system, wherein a setting link, a period feedback link, an e / v signal conversion module and a subtraction / addition ring are involved. The discrete repetition control method comprises the steps of generating a reference signal with a symmetrical period by the setting link; constructing the period feedback link; constructing the e / v signal conversion module according to an antitangent attraction law, wherein the output signal of the e / v signal conversion module is used for correction amount of a repetition controller; and furthermore calculating out the output signal of the repetition controller as controlling signal input of a controlled object. The invention provides influence of value of a controller parameter to a system tracking error convergence process. Specific controller parameter turning can be performed according to a representation system convergence performance index. Furthermore the invention provides a calculating method which represents a monotonic decreasing area of the error convergence process, an absolute attraction layer and a steady state error band boundary. The discrete repetition control method for the motor servo system has advantages of quick convergence performance, effective interference inhibition acceleration and high control precision.

The invention discloses a discrete two-cycle repetition controller based on an inverse hyperbolic sinusoidal attraction law, and A method comprises the steps: generating a periodic symmetric referencesignal for a given link, and constructing a periodic feedback link; constructing an ideal error dynamic condition based on the inverse hyperbolic sinusoidal attraction law according to different periodic reference signals; constructing an e / v signal conversion module according to the ideal error dynamic condition, wherein an output signal of the module is used as a correction amount of a sub-repetition controller and a discrete two-cycle repetition controller is formed in a parallel manner; and then calculating an output signal as the input of a servo object, so that a servo system follows the reference signal change. The specific setting work of the parameters of a controller can be carried out according to the amplitudes of different periodic interferences and the indexes for representing system tracking error convergence performances and steady performances, and the expressions of a monotone decreasing region, an absolute attraction layer and a steady error zone boundary for representing the tracking error convergence performances and steady performances are given. The controller provided by the invention employs the time domain design, is compatible with the quick inhibition of the multi-cycle interference, is good in dynamic performance, reduces the occupation of the memory, and is high in control precision.

The invention provides a cement combined-grinding prediction control method based on Bang-Bang control. The Bang-Bang control process is employed for mixing operation experiences such as observation, waiting, determination and adjusting of an operator into a control algorithm, the tracking error convergence rate is accelerated, and the system overshoot is reduced, and thus the combined-grinding system production process has good stability and the precise rapid control purpose is reached. Aiming at cement mill load control, LPV (Linear Parameter-Varying) prediction control is applied to solve control problems of variation and nondeterminacy of parameters of a linear time-varying system, and enable the system to have good robustness.

The invention relates to a coordinating manipulator-based adaptive neural network synchronous robust controller design method, mainly to enable a clamped workpiece to accurately track a desired trajectory and an internal force in a working condition with uncertain base coordinates. The method uses adaptive sliding mode control and an RBF neural network as the basis of the control method, through combination of the two and with setting of a corresponding approximation robust control item for a manipulator coordination clamping system, design of the control method is realized. The control methodcan adaptively compensate the trajectory errors caused by uncertain base coordinate translation errors and rotation errors, uncertain manipulator system dynamic parameters and uncertain base coordinate parameters are approximated through the neural network, the neural network has a function of continuously updating a weighting factor with an input field, errors and time, the uncertain base coordinate parameters can be compensated in a short time, the trajectory and internal force tracking errors of the manipulator clamping workpiece are converged to be near the desired value, and the controlprecision is improved.

The invention discloses a discrete two-cycle repeating control method based on a hyperbolic secant attraction law. A reference signal formed via superposition of two different cyclic symmetries is given; according to cyclic symmetry characteristics of interference signals of different cycles in a time domain, ideal error dynamics are respectively produced based on the hyperbolic secant attractionlaw; according to the ideal error dynamics, an e / v signal conversion module is established, output signals are used for correction of sub-repetitive controllers, and a discrete double cycle repetitivecontroller is formed after the sub-repetitive controllers are connected in parallel; output signals of the discrete double cycle repetitive controller are calculated as input to a servo object, and aservo system is enabled to change along with reference signals. Specific controller parameter setting work can be performed according to amplitudes of different periodic interference and indexes indicating system tracking error convergence performance and steady state performance; a method for calculating a monotonous decreasing region indicating the tracking error convergence performance and thesteady state performance, an absolute attraction layer and a steady state error band boundary is provided. The invention provides a discrete double cycle repetitive controller based on the hyperbolicsecant attraction law; the controller is advantaged by time domain design, fast suppression of multi-cycle interference, good dynamic quality, reduced memory occupancy and high control precision.

The invention discloses a discrete multi-cycle repeat controller for a periodic servo system. According to a time domain design method, a reference signal with multiple different periods that is symmetrically overlaid is offered, a multi-period feedback link is built, and a discrete multi-cycle repeat controller based on a law of attraction is designed based on multi-period symmetry of an interference signal on time domain. Specific controller parameter organization work is performed according to each amplitude of a multi-period interference / reference signal and indexes of a characterization tracking error convergence process, and calculation methods for a power monotonic reduction region, a power-absolute attraction layer and a steady state error band boundary of the characterization tracking error convergence process are provided. The discrete multi-cycle repeat controller based on time domain design converges rapidly, has high tracing accuracy, reduces used memory, eliminates multi-period interference signals, and effectively suppresses non-period interference signals.

The invention discloses a cantilever beam robustness self-adaptation control method. An ideal cantilever beam dynamic model is designed and contains frequency signals rich enough to serve as a reference trajectory of a system, it is guaranteed that the actual cantilever beam trajectory can track the reference trajectory for the whole self-adaptation control system, an ideal dynamic property is realized, and compensation of manufacturing errors and environment disturbance is achieved. The parameters of a cantilever beam are taken as unknown system parameters, a parameter error vector theta is formed, a slip form function is designed, the derivative of the slip form function is made to be zero, an equivalent controller is obtained, a feedback term and a robustness term serve as an input signal on this basis, the self-adaptation rule of the parameter theta of the controller is designed based on the Lyapunov method, the stability of the system is guaranteed, tracking error is converged to zero, and all the parameters are converged to true values.

A power attraction repetitive control method using an equivalent disturbance compensation servo system comprises the following steps of generating a periodic reference signal by a given module, constructing a periodic feedback link, introducing equivalent disturbance compensation in a power attraction law, and using an observer to estimate the equivalent disturbance; constructing ideal error dynamics based on the power attraction law, dynamically designing a controller according to the ideal error, and using the calculated signal as the control input of a servo system, wherein the specific controller parameter setting can be performed according to the convergence performance index of a characterization system, and a monotonous subtraction region, an absolute attraction layer and a steady-state error band boundary representing the tracking error convergence, as well as a calculation formula for the maximum number of steps for the tracking error entering the steady-state error band for the first time are given. The power attraction repetitive control method with equivalent disturbance compensation provided by the invention can improve the tracking accuracy of the system and completely suppress the periodic disturbance by estimating the equivalent disturbance.

The invention provides a 1 / 2 power attraction repetitive control method with equivalent disturbance compensation. A given module generates periodic reference signals, a period feedforward link is constructed, equivalent disturbance compensation is imported into a 1 / 2 power attraction law, and equivalent disturbance is estimated through utilization of a disturbance observer; an ideal error dynamicstate is constructed based on the power attraction law, a controller is designed according to the ideal error dynamic state, and a signal obtained through computing is taken as control input of a servo system; specific controller parameter setting can be carried out according to indexes which characterize system convergence performance, and computing formulae which characterize a monotone decreasing region, an absolute attraction layer, a steady state error band boundary and the maximum step number required when a tracking error enters a steady state error band for the first time, in a tracking error convergence process, are provided. According to the 1 / 2 power attraction repetitive control method with the equivalent disturbance compensation provided by the invention, through estimation ofthe equivalent disturbance, system tracking precision can be improved, and periodic disturbance can be suppressed completely.

The invention provides a hydraulic motor positional servo system preset performance tracking control method with hysteresis compensation, which belongs to the field of electro-hydraulic servo control. A principle schematic diagram of the control method is shown in abstract accompanying figure. According to the hydraulic motor preset performance tracking control method, system parameter uncertainty, unmodeled outside interference and hysteresis nonlinearity are considered, and an excellent tracking controller is designed; for the hysteresis nonlinearity, the hysteresis nonlinearity is subjected to modeling to form the sum of a linear term and a bounded interference term, thereby greatly facilitating the design of a subsequent moving controller; for the system parameter uncertainty and the unmodeled interference term, a self-adaptive robust control method is adopted, and good parameter estimation and robust bounded stabilization are ensured; and for preset performance requirement, a preset performance function is adopted, reasonable planning of tracking error convergence speed and maximum overshoot is achieved, and the excellent tracking controller is designed for conversion errors, thereby further ensuring that the tracking errors satisfy the preset performance requirement. Further, effectiveness of the controller is verified through contrast simulation results.

The invention discloses a quarter period repeated controller for a converter. In an existing repeated control technology, periodical external drive signals can be completely tracked or inhibited, and the front whole period of control and output signals can be stored. The controller comprises a given element, a periodical feedback element, and a signal transformation module and subtraction / addition element. A periodically symmetric reference signal is generated in the given element; the periodic feedback element is constructed; the signal conversion module is constructed according to the law of attraction, and the output signal of the signal conversion module is used for the allowance of the repeated controller; and the output signal of the repeated controller is served as the input of a controlled object. Specific controller parameter setting can be performed according to the index of the convergence performance of a representation system, and a monotone decreasing area, an absolute attraction layer and a steady state error boundary in the convergence process of representing tracking error can be provided. The quarter period repeated controller is capable of effectively restraining the symmetry signal interference, improving the control precision and greatly reducing memory usage.

The invention provides a non-switching attraction law design method of a digital controller using an interference differential suppression strategy. The method comprises the following steps: generating, by a given module, a reference signal; constructing a corresponding interference differential compensation feedback link according to a specific form of the given reference signal, wherein an output signal of the interference differential compensation feedback link is used for correcting the digital controller; constructing ideal error dynamics based on the non-switching attraction law, designing the digital controller according to the ideal error dynamics, and using a signal calculated by the current controller as the input of a servo object. The specific controller parameter setting can be performed according to an index that characterizes the convergence performance of the system, and a steady state error band, an absolute attraction layer and a monotone decreasing area, which characterize a tracking error convergence process, are provided. In turn, the anti-interference ability and the tracking accuracy of the system are improved, so that a servo system can change with the reference signal. The invention provides the non-switching attraction law design method of the digital controller, which can eliminate a system chattering phenomenon and has good control precision.

The invention discloses a finite time output feedback attitude tracking control method for an aircraft. According to the finite time output feedback attitude tracking control method, in the attitude tracking control process of the aircraft, a tracking error of an attitude parameter vector and an expected attitude position vector of the aircraft is converged in an expected neighborhood through thesteps of: constructing a state observer, a finite time command filter and an error compensation mechanism, designing a control law based on fractional power and the like. By adopting the finite time output feedback attitude tracking control method, the problem of calculation complexity caused by a traditional backstepping method can be avoided, the attitude tracking error can be ensured to be converged into any expected neighborhood under the conditions that the aircraft has inertia uncertainty, external interference and input saturation, and all signals in a closed-loop system are bounded within limited time. In addition, the invention further provides a specific example to verify the effectiveness of the finite time output feedback attitude tracking control method, and the effectivenessof the finite time output feedback attitude tracking control method is shown through a simulation result.

The invention discloses an equivalent disturbance compensation method for repeated control of power attraction of a periodic servo system. The method comprises the steps of generating a periodic reference signal by a given module, introducing a periodic feedforward link, defining an equivalent disturbance signal, and estimating equivalent disturbance by utilizing an observer; constructing an idealerror dynamic based on a 1 / 4 (or 3 / 4) power attraction law, dynamically designing a controller according to an ideal error, and using a calculated signal as a control input of the servo system; and carrying out specific controller parameter setting according to indexes for characterizing the convergence performance of the system, and giving a monotone decreasing area for characterizing a trackingerror convergence process, an absolute attraction layer, a steady-state error band boundary and a calculation formula of a maximum step number for a tracking error to enter a steady-state error bandfor the first time. According to the power attraction repeated controller with equivalent disturbance compensation, the equivalent disturbance is estimated, so that the tracking precision of the system can be improved, and the periodic disturbance can be completely inhibited.

The invention belongs to the technical field of switching systems, and discloses an adaptive neural network tracking control method and system with preset tracking precision. In order to approach an unknown nonlinear function and an unknown periodic time-varying parameter, a radial basis function neural network and Fourier series expansion are respectively introduced, and an upper bound of an approximation error is processed for the first time. Two bilateral smooth switching functions are introduced, and a common Lyapunov function meeting all subsystems is constructed. A new adaptive neural network control scheme is constructed by using a backstepping method and a common Lyapunov function theory. According to the method, the tracking error is converged to the neighborhood of the preset zero point, the preset performance of the tracking error is ensured, and all signals of a closed-loop system are semi-globally consistent and finally bounded. According to the method, the actual problem is combined, the model is established, the model obtaining result is solved, and a new thought and a solution method are provided for cross research of mathematics and engineering problems.

The invention discloses a leader-following second-order multi-agent system finite time consistency tracking control method, which comprises the following steps of designing a finite time double-powersliding mode disturbance observer based on a finite time convergence theory to estimate equivalent disturbance of a system in real time and perform dynamic compensation, designing a finite time fast arctangent tracking differentiator to calculate a leader acceleration signal, and designing a finite time consistency tracking controller in combination with sliding mode control to ensure that the system realizes stable control within finite time. Different from a traditional disturbance observer, the finite time double-power sliding mode disturbance observer is characterized in that a finite timeconvergence theory and a sliding mode control theory are introduced, so that estimation errors of disturbance converge to 0 within finite time, estimation precision and compensation efficiency of disturbance are improved, and based on a finite time fast arctangent tracking differentiator, the consistency tracking controller combines the advantages of the finite time convergence theory and the sliding mode control, and ensures that the tracking error of the system is converged to 0 within the finite time.

The invention discloses a method for designing a discrete time controller using interference differential compensation by an attraction law. The method comprises the following steps: generating a reference signal by a given module; constructing a corresponding interference differential compensation feedback link according to a specific form of a given reference signal, and using the output signalfor interference compensation in the discrete time controller; and constructing ideal error dynamic state based on the attraction law, designing the discrete time controller according to the ideal error dynamic state, and treating the signal obtained by the current controller as the input of a servo object. The specific controller parameter tuning can be performed according to the indicator that characterizes the convergence performance of the system, and provides concrete expressions of the steady-state error band, the absolute attraction layer and the monotone subtraction region characterizing the tracking error convergence process are provided. The discrete time controller design provided by the invention adopts corresponding interference differential compensation measures according tothe given reference signal, and improves tracking precision by suppressing interference.

The invention discloses a method for designing an indirect adaptive optimal synchronous controller of an uncertain chaotic system. The method comprises the following steps of: A, constructing a synchronous weight matrix self-organizing fuzzy planner of the uncertain chaotic system; B, designing a self-adaptive optimal synchronous controller; C, designing an adaptive supervised recursive compensator; and D, performing stability analysis on the controller closed-loop system. The design of the optimal synchronous controller is completed through the design method; the synchronization uncertainty,the parameter perturbation and the interference can be compensated in a very short time according to the system state; the trajectory and tracking error of the controlled chaotic system are convergednear an expected value (domain), and the synchronous residual error is further reduced and eliminated in combination with an adaptive recursion supervision compensator, so that the synchronous stability of the uncertain hybrid system is ensured, and the synchronous control precision and performance are effectively improved.

The invention discloses an adaptive fuzzy dynamic surface control method for a time-delay interconnected large-scale system. According to the invention, a fuzzy logic system is used to approximate an unknown time-delay function in the system, and reference signals are used to replace unknown time-delay signals in input of an approximator. The adaptive fuzzy dynamic surface control method provided by the invention for the time-delay interconnected large-scale system can process completely unknown time-varying time delay in system output, can ensure all signals in the system to be semi-global uniformly bounded, and can enable the tracking error to be converged within a small neighborhood comprising an original point.

The invention discloses a servo system non-switching attraction repetitive control method adopting equivalent disturbance compensation. According to the method, a given module generates periodical reference signals, a periodical feedback link is created, equivalent disturbance compensation is introduced into a non-switching attraction law, and an observer is utilized to estimate equivalent disturbance; an ideal error dynamic state is established based on the non-switching attraction law, a controller is designed according to the ideal error dynamic state, and a signal obtained through calculation is used as control input of a servo system; and specific controller parameter setting can be performed according to system convergence performance representing indexes, and calculation formulas ofa monotone decreasing region, an absolute attraction layer, a steady-state error zone boundary and the maximum number of steps of a tracking error entering a steady-state error zone for the first time, all of which represent a tracking error convergence process, are given. According to the non-switching attraction repetitive controller with the equivalent disturbance compensation function, through estimation of equivalent disturbance, system tracking precision can be improved, and periodical disturbance can be completely suppressed.

The invention relates to a rotor wing type plant protection unmanned aerial vehicle attitude tracking control method based on anti-saturation finite time. Compared with the prior art, the defect that attitude tracking control on a rotor wing type plant protection unmanned aerial vehicle is difficult is overcome. The method comprises the following steps: acquiring expected attitude angle data; acquiring real-time attitude angle data; establishing a complete attitude mathematical model; establishing a complete attitude mathematical expansion model; designing a finite time expansion observer; designing an auxiliary power system; designing a finite time attitude tracking controller; and controlling and adjusting the attitude of the rotary wing type plant protection unmanned aerial vehicle. According to the method, the rotor wing type plant protection unmanned aerial vehicle can track the expected attitude angle signal in finite time, the anti-interference capability of a flight control system and the saturation suppression capability of an actuator are improved, the tracking error convergence speed is increased, and the jitter phenomenon output by the system is effectively suppressed.

The present invention provides a discrete time controller non-switching attraction law design method through adoption of an interference difference inhibition policy. The method comprises the steps of: generating reference signals by a given module; constructing a corresponding interference difference compensating feedback link according to the concrete form of the given reference signals, whereinsignals output in the interference difference compensating feedback link are used for interference compensation in a digital controller; constructing an idea error dynamic state based on the non-switching attraction law, designing the digital controller according to the idea error dynamic state, and taking signals obtained through calculation of the current controller as input of a servo object.The setting of concrete controller parameters can be performed according to indexes representing system convergence performances, and concrete expressions of steady state error bands representing thetrack error convergence process, an absolute attraction layer and a monotone decreasing area. The discrete time controller non-switching attraction law design method employs a corresponding interference difference inhibition policy according to the given reference signals to improve the tracking precision of the servo system through inhibition of interference and consider the control effect of eliminating the system buffeting.