公开(公告)号：EP4398053A1

公开(公告)日：2024-07-10

申请号：EP24150601.3

申请日：2024-01-05

申请人： Universidade de Aveiro

发明人： Soares dos Santos, Marco Paulo ,  Cabral Bernardo, Rodrigo Miguel ,  Marado Torres, Delfim Fernando ,  Ruivo Herdeiro, Carlos Alberto

IPC分类号： G05B13/04 ,  G05B17/00 ,  G06F17/11

CPC分类号： G06F17/11 ,  G16H50/50 ,  G05B13/04 ,  G05B2219/4112420130101 ,  G05B2219/4113320130101 ,  G05B17/00

摘要： The present document discloses a control method for trajectory tracking of a dynamic system (2) having an input u(t) and having an output y(t), comprising the steps: obtaining a signal error e(t) from the difference between a reference signal u(t) and the output signal y(t); obtaining, by a controller (1,4), a control value cBN(t) determined by a black hole (BH) gravitational potential field of a black hole with mass M(t), wherein the reference signal u(t) is the black hole centre, wherein the signal error e(t) is a distance of a current position y(t) to the black hole centre u(t); wherein the output signal y(t) is a current position within a black hole Schwarzschild radius of the black hole, and where the black hole mass M(t) includes a factor of matter accretion; and inputting the control value cBN(t) into the dynamic system (2). It is further disclosed a respective controller and dynamic system (2) comprising a controller for trajectory tracking.