公开(公告)号：US11168623B2

公开(公告)日：2021-11-09

申请号：US16618380

申请日：2018-11-20

Applicant: SOUTHEAST UNIVERSITY

Inventor： Shihua Li ,  Chen Dai ,  Jun Yang ,  Hao Sun ,  Xiangyu Wang ,  Qi Li

IPC: F02D41/00 ,  F02D9/10 ,  G05B13/04

Abstract: A nonlinear disturbance rejection control apparatus and method for electronic throttle control systems are invented to control the electronic throttle system and to achieve a continuous finite-time disturbance rejection control goal. A control sub-apparatus and method are proposed with an observing sub-apparatus and method for controlling the opening angle of an electronic throttle valve. A mathematical model of the electronic throttle system is analyzed and a control-oriented model is presented with the formation of a lumped disturbance. With combination of the continuous terminal sliding mode control method and the output feedback control method, based on the finite-time high-order sliding mode observer, the preferred control performance is guaranteed, where both the dynamic and static performance of the system is effectively improved.

公开(公告)号：US11838636B2

公开(公告)日：2023-12-05

申请号：US17253558

申请日：2019-07-08

Applicant: SOUTHEAST UNIVERSITY

Inventor： Jun Yang ,  Xiangyang Liu ,  Jianliang Mao ,  Shihua Li

IPC: H04N23/695 ,  G05B11/32 ,  G05B11/42 ,  G05B13/02

CPC classification number: H04N23/695 ,  G05B11/32 ,  G05B11/42 ,  G05B13/027

Abstract: The present invention provides a generalized proportional integral observer-based method for compensating for visual-measurement time lag of an electro-optical tracking system. For visual-measurement time lag present in an electro-optical tracking system, an improved generalized proportional integral observer-based feedback control method is used to mitigate the impact of the measurement time lag on the system and suppress kinematic uncertainty of the system. The core of the method lies in that an observer is used to estimate a state, uncertainty, and a difference of the system at a previous moment, a state and uncertainty of the system at a current moment are then calculated by using these estimated values and a state-space model of the system, and a control input of the system is finally acquired according to the estimated values of the state and uncertainty of the system at the current moment. The method mitigates the adverse impact of visual-measurement time lag on the system and enhances the uncertainty suppression and the tracking precision of the system.