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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Применить Всего найдено 2. Отображено 2.
01-08-2023 дата публикации

Smooth switching control method for air-ground dual-purpose robot

Номер: CN116520674A
Автор: MA YUTING, YANG JIANAN, GAO TIANYU, ZHU YIMIN, DING YIHANG, WU TONG, LU SHENG'AO
Принадлежит:

The invention discloses a smooth switching control method for an air-ground dual-purpose robot, and belongs to the field of air-ground dual-purpose robots. The smooth switching control method comprises the steps that kinematics and dynamics equations of an air-ground mode are established; constructing a system model of the air-ground dual-purpose robot; establishing a first mathematical expression which does not consider the limited condition of the system state and a second mathematical expression which considers the limited condition of the system state based on the system model, respectively designing a first controller for stabilizing the system and a second controller for stabilizing the system under the condition that the system state is limited by aiming at the first mathematical expression and the second mathematical expression, and respectively carrying out solving and stability proving; and performing smooth switching control on the air-ground dual-purpose robot through the solved ...

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Номер записи: 1
04-04-2023 дата публикации

Unmanned aerial vehicle active fault-tolerant control method with jitter suppression performance

Номер: CN115903512A
Автор: CAI BO, ZHANG LIXIAN, LI YUNPENG, YANG JIANAN, LU SHENG'AO, WANG YIMING, LIN ZEFENG, LI HAOWEI
Принадлежит:

The invention discloses an unmanned aerial vehicle active fault-tolerant control method with jitter suppression performance, and relates to the technical field of unmanned aerial vehicle control. The method is technically characterized by comprising the following steps: establishing an unmanned aerial vehicle model in a discrete time state space expression form after linearization; modeling an FDI process with inaccurate observation information by using a hidden semi-Markov switching system theory, and constructing an anti-shake controller depending on an observation mode; constructing unmanned aerial vehicle system state anti-shake constraint conditions; providing a sufficient condition for ensuring the mean square stability of the unmanned aerial vehicle system under the condition of inaccurate FDI information; providing sufficient conditions for existence of a fault-tolerant controller with anti-shake performance of the discrete-time unmanned aerial vehicle system; solving the matrix ...

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Номер записи: 2