CN110209053A - The controller design method and control method of cluster satellite system - Google Patents
The controller design method and control method of cluster satellite system Download PDFInfo
- Publication number
- CN110209053A CN110209053A CN201910497556.9A CN201910497556A CN110209053A CN 110209053 A CN110209053 A CN 110209053A CN 201910497556 A CN201910497556 A CN 201910497556A CN 110209053 A CN110209053 A CN 110209053A
- Authority
- CN
- China
- Prior art keywords
- satellite system
- cluster
- cluster satellite
- formation
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the controller design method of cluster satellite system and control methods, it is related to satellite control technology field, it is applicable not only to cluster satellite system formation control, apply also for general swarm intelligence system specified time consistency collaboration formation task, swarm intelligence system specified time tracking control unit may further be applied to, it is designed comprising controller etc., effectively improve time Conservative Property of the swarm intelligence system in finite time collaboration volume problem, it is greatly expanded the topological structure of communication network, solves the design difficulty of cluster satellite system specified time consistency formation control device structure and parameter.
Description
Technical field
The present invention relates to satellite control technology fields, controller design method and control more particularly to cluster satellite system
Method processed.
Background technique
Distributed form into columns of cluster satellite system is an important trend of the following deep space exploration, possesses wide hair
Exhibition prospect.With the fast development of China's deep-space detection field, the required precision of deep space exploration is continuously improved, this defends deep space
Star astronomical telescope needs constantly to increase its bore and scale.In recent years, being reduced simultaneously to improve the precision of deep space exploration
The transmitting difficulty of deep space exploration satellite telescope, there has been proposed cluster satellite ephemeris telescopes to cooperate with the general of high deep space exploration
It reads, by carrying astronomical telescope on multiple moonlets, to form cluster satellite system, further controls cluster satellite system
It is astronomical to form large-scale cluster deep space so that cluster satellite system weaves into certain formation on the whole for the motion profile of system component
Telescopic system, to improve the precision of deep space exploration, this solves the transmitting difficulty of heavy caliber deep space telescope at one stroke, also band
The challenging problems such as cluster satellite system networking formation are carried out.Traditional cluster satellite system formation control method is often
It is formed into columns using the networking of centralization tactful, cluster satellite system does not have information transmission between component, depends on master controller greatly
Carry out networking formation, to bring cluster satellite system formation poor robustness, the disadvantages of transinformation is big.Multiple agent system
The it is proposed of system finite time consistency control technology is that the collaboration formation of cluster satellite system brings dawn, compared to traditional collection
Group's satellite system centralization formation control method, the collaboration based on multi-agent system finite time consistency control technology are formed into columns
Control method has many advantages, such as that good robustness, decentralization, communication price be small, quick formation, distributed in cluster satellite system
There is boundless application value in formation control.
But the work about multi-agent system finite time consistency control technology, often there is some be difficult to gram
The problem of taking.Firstly, existing finite time consistency control technology is difficult to accurate control on the time controls, can only obtain
The time upper bound completed of forming into columns, and this upper bound often very conservative time, is far longer than true form into columns when being formed
Between, to seriously affect control efficiency in control cost massive losses.Secondly, existing finite time consistency controls skill
The problems such as art often uses discontinuous Technology design control strategy, often brings controller unstable in practical applications.Again,
Existing finite time consistency control technology often carries out on nonoriented communication network network, and actual communication network more has
To communication network, this makes existing finite time consistency control technology be difficult to use on oriented communication network.Finally, mesh
Preceding existing finite time consistency control technology is only applicable to low order dynamical system, is difficult to apply for General High Order system.
In view of cluster satellite system has higher order dynamics, the features such as oriented communication network, therefore meeting specified time stability
Under the premise of requiring with controller Lubricity, a kind of cluster satellite system that is specifically applied to is provided under oriented communication network
The design method of specified time consistency formation control device has quite urgent reality and theory significance.
Summary of the invention
The embodiment of the invention provides the controller design method of cluster satellite system and control methods, can solve existing
The problem of technology.
The present invention provides the controller design methods of cluster satellite system, comprising the following steps:
Cluster satellite system is described using Hill's equation, establishes the model of cluster satellite system；
Linear Higher-Order multiple agent is converted by the formation problem of cluster satellite system using the design method of formation error
The consistency problem of system；
Use the specified time consistency formation control device of subsatellite in method for optimally controlling design cluster satellite system.
The present invention also provides the control method of cluster satellite system, this method is using above-mentioned controller to satellite collection
Group's system is controlled.
The controller design method and control method of cluster satellite system in the present invention, are applicable not only to cluster satellite system
System formation control applies also for general swarm intelligence system specified time consistency collaboration formation task, may further push away
Extensively it is applied to swarm intelligence system specified time tracking control unit, comprising the design such as controller, effectively improves swarm intelligence
Time Conservative Property of the system in finite time collaboration volume problem, is greatly expanded the topological structure of communication network, solves
The design difficulty for cluster satellite system specified time consistency formation control device structure and parameter of having determined.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
The present invention provides the controller design method of cluster satellite system, this method mainly comprise the steps that firstly,
Formation modeling is carried out to cluster satellite system described in Hill's equation using formation error analysis technique, by cluster satellite system
Formation problem is converted into Linear Higher-Order multi-agent system consistency problem；Secondly, when using specified in the theory of optimal control
Between design method to Linear Higher-Order designing Multi-Agent system substep control strategy；Then, using motion planning technology to substep
Discrete time in control strategy clicks through professional etiquette and draws, and requires to be projected into finite time interval according to specified time；Finally,
It is theoretical with series and stability analysis, to realize the control target of the specified time consistency formation of cluster satellite system.
Specifically, the controller design method process of above-mentioned cluster satellite system are as follows:
Cluster satellite system is described using Hill's equation, establishes the model of cluster satellite system, as follows:
Wherein, ri=[rxi,ryi,rzi]TIt is the three-dimensional location coordinates of i-th of subsatellite, uiFor formation control device, N is son
The quantity of satellite, I3For three-dimensional unit matrix, nr=7.273 × 10-5s-1For the intrinsic frequency of reference orbit, orbit radius R0
=4.224 × 107m。
It is how intelligent that by cluster satellite system formation control problem high-grade linear is converted by the design method of formation error
The consistency control problem of system system.It enablesCluster satellite system can be write as general linear system:
Formation control rule can be written as follow specified time consistency:
WhereinNiFor the set of other subsatellites composition neighbouring with subsatellite i, InFor n
Dimension unit matrix, 0nNull matrix is tieed up for n.Sampling time sequence are as follows:
Wherein, Ts> 0 is to stablize the time according to offline preassign of mission requirements,It is to have multinomial receipts
Hold back the infinite power series { δ of speedk, i=1,2 ... } sum.Particularly, it can choose a special example such as
According to method for optimally controlling, the specified time consistency formation control rule of subsatellite i is given below:
tk≤t<tk+1, i=1,2 ..., N
Wherein,hiFor
Given formation configuration, tk≤t<tk+1, i=1,2 ..., N.
The design of above-mentioned specified time consistency controller allows for following Hamiltonian function:
It is wherein association's state.Then, the cost function of the corresponding Hamiltonian function of formula (4) is as follows:
Wherein it is possible to be seen as initial and terminal time respectively.So, formula (1) is write as according to method for optimally controlling:
In addition, according to extremum conditions:Have:
ui(t)=BTpi(t) (7)
Therefore, the determination of optimal controller is attributed to calculating p in formula (7)i(t)。
By obtaining in formula (7) substitution formula (6):
By above-mentioned equation from tkIt is integrated to tk+1, and then have:
Due toThen
So:
Wherein
Next design [tk,tk+1] terminal condition of formula (4) in the time, it is as follows:
Formula (11) are substituted into formula (9), are obtained:
So, if Φ is reversible, followed by have:
Therefore, for time series tk, distributed director has been obtained, such as formula (2).
It summarizes above-mentioned, there is the specified time control controller of formula (2), the state x in formula (1)i(tk) can be controlled to
The average state of prediction,In time interval [tk,tk+1] in.Intuitively,
By after steps multiple enough, the state of all intelligent bodies of system is by compliance in formula (1).
The existence and feasibility of the controller obtained below to present invention design are analyzed.
1, controller Analysis of Existence: note that only when Φ can the inverse time, above controller just exists.Therefore, in the case where continuing
Before the work in face, following analysis conclusion is given.
It can be obtained by (10):
Note
Pass through reduction to absurdity, it is assumed that ∏ (t) is unusual.Accordingly, there exist at least one non-vanishing vector α ∈ Rn, so that:
αT∏ (t)=0 (12)
For any t ∈ R.K order derivative (k=1,2 ..., n-1) of modus ponens (12) both sides about t, has:
For any t ∈ R.Due to the arbitrariness of t, equation (13) is set up in t=0.Therefore, there is following equation establishment:
Simplify above-mentioned equation, there is αTAk-1BBT=0, k=1,2 ... n, therefore αTBBT=0, αTABBT=0, αTA2BBT=0,
αTA3BBT=0 ..., αTAn-1BBT=0.
Remember Q=[BBT ABBT A2BBT…An-1BBT], then αTQ=0.
By α ≠ 0 it is found that matrix Q is linearly related.Note that when (A, B) is controllable, (A, BBT) be can
Control.This condition controllable with (A, B) contradicts.Therefore, it was demonstrated that ∏ be it is nonsingular, i.e., Φ is reversible.
Similarly, it is assumed that (A, B) is uncontrollable, then at least there is a non-vanishing vector β ∈ Rn, so that βTQ=0, i.e. βTBBT=0, βTABBT=0, βTA2BBT=0, βTA3BBT=0 ..., βTAn-1BBT=0.So βT∏ (t)=0.This is with Φ can
Inverse contradiction.Therefore, (A, B) is controllable.
So this is wanting substantially for linear system control if (A, B) is controller presence that is controllable, then being proposed
It asks.
2, controller feasibility analysis: first, it was demonstrated that in sampling time sequence { tkUnder, the system mode in formula (1) exists
Consistency can be realized under the control of formula (2) controller.Formula (2) are substituted into formula (1) and are obtained:
By (15) from tkIt is integrated to tk+1, k=0,1 ..., available:
NoteThen:
WhereinThen:
There is a spanning tree in digraph G.Random matrix IN- NL has an eigenvalue λ1=1 corresponding algebraic multiplicity is equal to 1,
Other all characteristic values meet | λi| < 1, i=1,2 ..., N, then, for matrix IN- NL, there are a column vector ξ to make:
There is t additionally, due to as k → ∞k→Ts, then there is tk-1-t0It is bounded, this makes matrixIt is every
One is bounded.Then have:
NoteHave
Then
It notices againSo as k → ∞, i.e. limk→∞||xi(tk)-xj
(tk) | |=0, discrete state will reach consistency with exponential rate.
Secondly, stablizing time T for preassigning offlines, it was demonstrated that work as tk→TsWhen discrete state xi(tk) it can reach specified
Time consistency.According to the convergent sample sequence S of multinomial rate, there is limk→∞tk=Ts.ThereforeSo, when stablizing for preassigning
Between Ts, work as tk→TsWhen, discrete state xi(tk) specified time consistency will be realized with exponential rate.
Finally, will demonstrate that in t → TsWhen continuous state xi(t) it can achieve specified time consistency.By by (15) from tk
It is integrated to t, available:
tk≤t<tk+1
Note
Then
Separately have
It is furthermore noted that:
Due to the length of time intervalIt is bounded above.HaveIt is bounded.It is controllable additionally, due to (A, B), it is known that Φ is reversible,Wherein | Φ | ≠ 0.It is assumed thatWherein fs, s=0,1 ... is coefficient, at least
There are a limited constant m to make coefficient fm≠ 0, f0=f1=...=fm-1=0.So work as tk+1-tkWhen sufficiently small, | Φ | it can
To be write as again | Φ |=fm(tk+1-tk)m+o(tk+1-tk), wherein o (tk+1-tk) it is tk+1-tkHigher-order shear deformation.Due toIt is multinomial rate, hasAccording to limk→∞tk=TS,It follows thatSimilarly, availableTherefore have
In summary, under the conditions of the controller of formula (2), the linear multi-agent system of formula (1) can stablize the time preassigning
TsLower realization consistency.
By the modeling, design, conversion of above-mentioned process and analysis it can be concluded that, the specified time consistency that this patent proposes
Formation control device can solve the specified time formation control problem of cluster satellite system.
The present invention also provides the control method of cluster satellite system, this method is using the controller in formula (2) to defending
Star group system is controlled.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (5)
1. the controller design method of cluster satellite system, which comprises the following steps:
Cluster satellite system is described using Hill's equation, establishes the model of cluster satellite system；
Linear Higher-Order multi-agent system is converted by the formation problem of cluster satellite system using the design method of formation error
Consistency problem；
Use the specified time consistency formation control device of subsatellite in method for optimally controlling design cluster satellite system.
2. the controller design method of cluster satellite system as described in claim 1, which is characterized in that the cluster satellite of foundation
System model are as follows:
Wherein, ri=[rxi,ryi,rzi]TIt is the three-dimensional location coordinates of i-th of subsatellite, uiFor formation control device, N is subsatellite
Quantity, I3For three-dimensional unit matrix, nr=7.273 × 10-5s-1For the intrinsic frequency of reference orbit.
3. the controller design method of cluster satellite system as claimed in claim 2, which is characterized in that enable
Cluster satellite system after conversion indicates are as follows:
Wherein,
Formation control device indicates are as follows:
Whereintk≤t<
tk+1, i=1,2 ..., N, NiFor the set of other subsatellites composition neighbouring with subsatellite i, InFor n tie up unit matrix, 0nFor n
Tie up null matrix.
4. the controller design method of cluster satellite system as claimed in claim 3, which is characterized in that according to optimum control side
The specified time consistency formation control device of method, subsatellite i indicates are as follows:
tk≤t<tk+1, i=1,2 ..., N
Wherein, hiFor given formation configuration.
5. the control method of cluster satellite system, which is characterized in that the method is using controller obtained in claim 1
Satellite cluster system is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910497556.9A CN110209053A (en) | 2019-06-10 | 2019-06-10 | The controller design method and control method of cluster satellite system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910497556.9A CN110209053A (en) | 2019-06-10 | 2019-06-10 | The controller design method and control method of cluster satellite system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110209053A true CN110209053A (en) | 2019-09-06 |
Family
ID=67791811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910497556.9A Pending CN110209053A (en) | 2019-06-10 | 2019-06-10 | The controller design method and control method of cluster satellite system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110209053A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807248A (en) * | 2019-10-15 | 2020-02-18 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN111169666A (en) * | 2020-01-19 | 2020-05-19 | 北京空间飞行器总体设计部 | Method for determining reconfigurable envelope of limited system capable of recovering state domain |
| CN112286058A (en) * | 2020-11-06 | 2021-01-29 | 哈尔滨工业大学 | Time-varying feedback limited time control method for controlling restricted satellite formation flight system |
| CN114553292A (en) * | 2022-01-11 | 2022-05-27 | 中南大学 | Method and system for maintaining and controlling connectivity of satellite cluster topological structure |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006017604A (en) * | 2004-07-02 | 2006-01-19 | Japan Radio Co Ltd | Satellite signal receiving device |
| CN105138010A (en) * | 2015-08-31 | 2015-12-09 | 哈尔滨工业大学 | Distributed limited time tracking control method for formation-flying satellites |
| CN106129999A (en) * | 2016-07-01 | 2016-11-16 | 东南大学 | Based on finite time conforming direct-current grid distributed collaboration control method |
| CN106470901A (en) * | 2014-02-26 | 2017-03-01 | 克拉克·艾默生·科恩 | The GLONASS framework of improvement performance and cost |
| CN106628257A (en) * | 2016-09-28 | 2017-05-10 | 西北工业大学 | Method for keeping relative motion orbit of near-earth spacecraft in earth's perturbation gravitational field |
| US9694917B1 (en) * | 2016-06-15 | 2017-07-04 | The Aerospace Corporation | Deployment and control algorithms for wheel cluster formations of satellites |
| CN107554817A (en) * | 2017-07-11 | 2018-01-09 | 西北工业大学 | The compound formation method of satellite |
| CN109085754A (en) * | 2018-07-25 | 2018-12-25 | 西北工业大学 | A kind of spacecraft neural network based is pursued and captured an escaped prisoner game method |
| CN109375648A (en) * | 2018-12-07 | 2019-02-22 | 北京理工大学 | Elliptical orbit satellite Formation Configuration initial method under a kind of multi-constraint condition |
-
2019
- 2019-06-10 CN CN201910497556.9A patent/CN110209053A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006017604A (en) * | 2004-07-02 | 2006-01-19 | Japan Radio Co Ltd | Satellite signal receiving device |
| CN106470901A (en) * | 2014-02-26 | 2017-03-01 | 克拉克·艾默生·科恩 | The GLONASS framework of improvement performance and cost |
| CN105138010A (en) * | 2015-08-31 | 2015-12-09 | 哈尔滨工业大学 | Distributed limited time tracking control method for formation-flying satellites |
| US9694917B1 (en) * | 2016-06-15 | 2017-07-04 | The Aerospace Corporation | Deployment and control algorithms for wheel cluster formations of satellites |
| CN106129999A (en) * | 2016-07-01 | 2016-11-16 | 东南大学 | Based on finite time conforming direct-current grid distributed collaboration control method |
| CN106628257A (en) * | 2016-09-28 | 2017-05-10 | 西北工业大学 | Method for keeping relative motion orbit of near-earth spacecraft in earth's perturbation gravitational field |
| CN107554817A (en) * | 2017-07-11 | 2018-01-09 | 西北工业大学 | The compound formation method of satellite |
| CN109085754A (en) * | 2018-07-25 | 2018-12-25 | 西北工业大学 | A kind of spacecraft neural network based is pursued and captured an escaped prisoner game method |
| CN109375648A (en) * | 2018-12-07 | 2019-02-22 | 北京理工大学 | Elliptical orbit satellite Formation Configuration initial method under a kind of multi-constraint condition |
Non-Patent Citations (5)
| Title |
|---|
| YU ZHAO ET AL.: "Designing Distributed Fixed-Time Consensus Protocols for Linear Multi-Agent Systems Over Directed Graphs", 《ARXIV》 * |
| YU ZHAO ET AL.: "Designing Distributed Specified-Time Consensus Protocols for Linear Multi-Agent Systems Over Directed Graphs", 《IEEE》 * |
| 梁树甜: "小卫星编队的队形捕获和保持控制", 《信息科技辑》 * |
| 王也: "卫星编队的姿态协同控制及其优化设计", 《信息科技辑》 * |
| 黄伟等: "基于参数优化的导弹编队控制一致性算法", 《系统工程与电子技术》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110807248A (en) * | 2019-10-15 | 2020-02-18 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN110807248B (en) * | 2019-10-15 | 2021-11-02 | 西北工业大学 | Grouping judgment method for spacecraft cluster |
| CN111169666A (en) * | 2020-01-19 | 2020-05-19 | 北京空间飞行器总体设计部 | Method for determining reconfigurable envelope of limited system capable of recovering state domain |
| CN112286058A (en) * | 2020-11-06 | 2021-01-29 | 哈尔滨工业大学 | Time-varying feedback limited time control method for controlling restricted satellite formation flight system |
| CN112286058B (en) * | 2020-11-06 | 2022-11-08 | 哈尔滨工业大学 | Time-varying feedback limited time control method for controlling restricted satellite formation flight system |
| CN114553292A (en) * | 2022-01-11 | 2022-05-27 | 中南大学 | Method and system for maintaining and controlling connectivity of satellite cluster topological structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110209053A (en) | The controller design method and control method of cluster satellite system | |
| CN110456807B (en) | Multi-spacecraft consistency dynamic gain control method | |
| CN110544296A (en) | intelligent planning method for three-dimensional global flight path of unmanned aerial vehicle in environment with uncertain enemy threat | |
| CN112180734A (en) | Multi-agent consistency method based on distributed adaptive event triggering | |
| CN108897222B (en) | Output feedback safety cooperative controller under multi-unmanned aerial vehicle strategy attack and control method | |
| CN109116854A (en) | A kind of robot cooperated control method of multiple groups based on intensified learning and control system | |
| CN103425772A (en) | Method for searching massive data with multi-dimensional information | |
| CN112000001B (en) | PID parameter setting optimization method based on improved Bayesian model | |
| CN104698842B (en) | A kind of LPV model nonlinear forecast Control Algorithms based on interior point method | |
| CN110780668A (en) | Distributed formation surround tracking control method and system for multiple unmanned boats | |
| CN105068421A (en) | Two-degree-of-freedom cooperative control method for multiple mobile robots | |
| CN103279031A (en) | Robust convergence control method of uncertain multi-agent system | |
| CN106775705B (en) | A kind of software module division methods | |
| Chang et al. | Adaptive tracking control for nonlinear system in pure-feedback form with prescribed performance and unknown hysteresis | |
| CN105373845A (en) | Hybrid intelligent scheduling optimization method of manufacturing enterprise workshop | |
| CN113625559A (en) | Multi-agent system cooperative control method based on specified time convergence | |
| CN105093926A (en) | Optimization matching combination method of iterative learning control reference tracks | |
| CN103116698A (en) | GM (1, 1) model prediction method based on cubic spline | |
| CN104834809A (en) | Artificial colony search-based seven-degree-of-freedom mechanical arm reverse kinematical solving method | |
| Rico-Azagra et al. | Quantitative feedback control of multiple input single output systems | |
| Yuan et al. | A SAFSA-and metabolism-based nonlinear grey Bernoulli model for annual water consumption prediction | |
| CN111551178A (en) | Shortest path-based segmented track time planning method | |
| CN110609467A (en) | Time-lag multi-agent system consistency control method based on PID | |
| CN108582072B (en) | Improved graph planning algorithm-based space manipulator task planning method | |
| CN115049786B (en) | Task-oriented point cloud data downsampling method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200529 Address after: 518057 room A311, Virtual University Park, 19 New South four road, Nanshan District science and Technology Park, Shenzhen, Guangdong Applicant after: RESEARCH & DEVELOPMENT INSTITUTE OF NORTHWESTERN POLYTECHNICAL University IN SHENZHEN Applicant after: Northwestern Polytechnical University Address before: 518057 room A311, Virtual University Park, 19 New South four road, Nanshan District science and Technology Park, Shenzhen, Guangdong Applicant before: RESEARCH & DEVELOPMENT INSTITUTE OF NORTHWESTERN POLYTECHNICAL University IN SHENZHEN |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190906 |