CN115047763B - 一种多无人机系统的最小能量控制方法 - Google Patents
一种多无人机系统的最小能量控制方法 Download PDFInfo
- Publication number
- CN115047763B CN115047763B CN202210639228.XA CN202210639228A CN115047763B CN 115047763 B CN115047763 B CN 115047763B CN 202210639228 A CN202210639228 A CN 202210639228A CN 115047763 B CN115047763 B CN 115047763B
- Authority
- CN
- China
- Prior art keywords
- point
- unmanned aerial
- aerial vehicle
- control
- tracking
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005457 optimization Methods 0.000 claims abstract description 55
- 238000009826 distribution Methods 0.000 claims abstract description 42
- 239000011159 matrix material Substances 0.000 claims abstract description 36
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 20
- 238000013461 design Methods 0.000 claims abstract description 19
- 238000011480 coordinate descent method Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 25
- 238000005070 sampling Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 239000013598 vector Substances 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000003190 augmentative effect Effects 0.000 claims description 2
- 238000010923 batch production Methods 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000006467 substitution reaction Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000009466 transformation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210639228.XA CN115047763B (zh) | 2022-06-08 | 2022-06-08 | 一种多无人机系统的最小能量控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210639228.XA CN115047763B (zh) | 2022-06-08 | 2022-06-08 | 一种多无人机系统的最小能量控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115047763A CN115047763A (zh) | 2022-09-13 |
CN115047763B true CN115047763B (zh) | 2023-10-13 |
Family
ID=83161556
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210639228.XA Active CN115047763B (zh) | 2022-06-08 | 2022-06-08 | 一种多无人机系统的最小能量控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115047763B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116893619B (zh) * | 2023-08-29 | 2024-04-09 | 江南大学 | 一种工业机器人量化迭代学习控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110262543A (zh) * | 2019-05-23 | 2019-09-20 | 北京航空航天大学 | 多目标点同时到达约束下的集群四维轨迹规划设计方法 |
CN110815225A (zh) * | 2019-11-15 | 2020-02-21 | 江南大学 | 电机驱动单机械臂系统的点对点迭代学习优化控制方法 |
CN113341726A (zh) * | 2021-06-18 | 2021-09-03 | 江南大学 | 一种多质点车辆队列行驶系统的迭代学习控制方法 |
CN113900377A (zh) * | 2021-10-19 | 2022-01-07 | 江南大学 | 双转子气动系统点对点迭代学习最小能量控制方法 |
WO2022088471A1 (zh) * | 2020-10-28 | 2022-05-05 | 江南大学 | 一种移动机器人变批次长度迭代学习优化控制方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8977394B2 (en) * | 2012-12-31 | 2015-03-10 | King Fahd University Of Petroleum And Minerals | Control method for mobile parallel manipulators |
-
2022
- 2022-06-08 CN CN202210639228.XA patent/CN115047763B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110262543A (zh) * | 2019-05-23 | 2019-09-20 | 北京航空航天大学 | 多目标点同时到达约束下的集群四维轨迹规划设计方法 |
CN110815225A (zh) * | 2019-11-15 | 2020-02-21 | 江南大学 | 电机驱动单机械臂系统的点对点迭代学习优化控制方法 |
WO2022088471A1 (zh) * | 2020-10-28 | 2022-05-05 | 江南大学 | 一种移动机器人变批次长度迭代学习优化控制方法 |
CN113341726A (zh) * | 2021-06-18 | 2021-09-03 | 江南大学 | 一种多质点车辆队列行驶系统的迭代学习控制方法 |
CN113900377A (zh) * | 2021-10-19 | 2022-01-07 | 江南大学 | 双转子气动系统点对点迭代学习最小能量控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN115047763A (zh) | 2022-09-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110815225B (zh) | 电机驱动单机械臂系统的点对点迭代学习优化控制方法 | |
Chi et al. | A unified data-driven design framework of optimality-based generalized iterative learning control | |
CN112318505B (zh) | 一种移动机器人变批次长度迭代学习优化控制方法 | |
Zhou et al. | Deep convolutional neural network based fractional-order terminal sliding-mode control for robotic manipulators | |
Qi et al. | Stable indirect adaptive control based on discrete-time T–S fuzzy model | |
Hamdy et al. | Adaptive neural decentralized control for strict feedback nonlinear interconnected systems via backstepping | |
Lee et al. | Respiratory motion estimation with hybrid implementation of extended Kalman filter | |
CN111722628B (zh) | 一种多智能体轨迹更新迭代学习的点到点跟踪控制方法 | |
CN115047763B (zh) | 一种多无人机系统的最小能量控制方法 | |
Riaz et al. | A novel fast error convergence approach for an optimal iterative learning controller | |
Zeng et al. | Adaptive finite-time model estimation and control for manipulator visual servoing using sliding mode control and neural networks | |
Antipov et al. | Synthesis of invariant nonlinear single-channel sigmoid feedback tracking systems ensuring given tracking accuracy | |
Li et al. | A theoretical framework for end-to-end learning of deep neural networks with applications to robotics | |
CN104423321B (zh) | 用于识别低频干扰的位置控制装置 | |
CN113900377B (zh) | 双转子气动系统点对点迭代学习最小能量控制方法 | |
Boukattaya et al. | Time‐varying nonsingular terminal sliding mode control for uncertain second‐order nonlinear systems with prespecified time | |
Wang et al. | Adaptive preassigned-time controller design for a hypersonic vehicle with improved performance and uncertainties | |
Ahmadian et al. | A new approach to adaptive control of multi-input multi-output systems using multiple models | |
Keel | Analytical design of pid controllers [bookshelf] | |
Ablay | Coefficient ratios‐based robust sliding surface and integral sliding mode control designs with optimal transient responses | |
CN114186477A (zh) | 一种基于Elman神经网络的轨道预测算法 | |
Ma et al. | Adaptive neural network control of a non‐linear two‐degree‐of‐freedom helicopter system with prescribed performance | |
Darío Luis‐Delgado et al. | Design of switching hyperplanes for multi‐inputs multi‐outputs discrete‐time linear systems | |
Amador-Angulo et al. | Stabilization of a DC Motor Speed Controller Using Type-1 Fuzzy Logic Systems Designed with the Chicken Search Optimization Algorithm | |
Hassan-Moghaddam et al. | Data-driven proximal algorithms for the design of structured optimal feedback gains |
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: 20230914 Address after: Room 05, 27th Floor, Building 1, Phase 3, Guannan Fuxing Pharmaceutical Park, No. 58 Guanggu Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 430000 (Wuhan Area of Free Trade Zone) Applicant after: Wuhan Tianzhiran Intellectual Property Operation Co.,Ltd. Address before: 214100 7th floor, South Building, No. 898, Tongsha Road, Liangxi District, Wuxi City, Jiangsu Province Applicant before: Jiangnan University Effective date of registration: 20230914 Address after: 239300 North of Guangling Road, east of Erfeng South Road, Tianchang City, Chuzhou City, Anhui Province Applicant after: TIANCHANG CITY POWER SUPPLY COMPANY OF STATE GRID ANHUI POWER CO.,LTD. Applicant after: STATE GRID ANHUI POWER CO., LTD. CHUZHOU POWER SUPPLY Co. Applicant after: Chuzhou Dongyuan Electric Power Engineering Co.,Ltd. Tianchang Branch Address before: Room 05, 27th Floor, Building 1, Phase 3, Guannan Fuxing Pharmaceutical Park, No. 58 Guanggu Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 430000 (Wuhan Area of Free Trade Zone) Applicant before: Wuhan Tianzhiran Intellectual Property Operation Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |