Error correcting method
AssigneeMetal Industries Research & Development Centre
InventorsChih-Ming Chang, Kuang-Shine Yang, Ho-Chung Fu, Ying-Cherng Lu
Life of this patent
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Abstract
An error correcting method is provided, which includes the following steps. An error value is obtained. The error value is substituted into an error correcting function, so that the error correcting function causes the error value to converge to 0 in a finite time. The error correcting function conforms to a non-Lipschitzian characteristic. An embodiment of the disclosure solves the problem in traditional system stability analysis through a differential equation, adjusts parameters to determine a convergence time, and ensures that a convergence target fully conforms to an expected value and that a unique solution of the error value is 0.
Claims10
An error correcting method, adapted for an unmanned aerial vehicle having a second-order controller, a first order controller, a memory and a detector, comprising:
- obtaining a motion sensing data of the unmanned aerial vehicle from the detector;
- obtaining an error value from the detector, wherein the error value is a difference between the motion sensing data and a target value, and the error value comprises one of a gravity error, a temperature error, an angle error, a magnetic force error, a distance error;
- and
- substituting the error value into an error correcting function by the second-order controller and the first order controller, such that the unmanned aerial vehicle based on the error correcting function causes the error value to converge to 0 in a finite time, wherein the error correcting function conforms to a non-Lipschitzian characteristic which indicates that a convergence value of a function is only 0, and the convergence value does not vary after converging to 0, wherein the error correcting function is {dot over (x)}1=−|x1|1/nsgn(x1), wherein x1 is the error value and n is a hierarchy,
- wherein the second-order controller converts the error value of a second-order form into the error value of a first-order form, and the first-order controller converges the error value of the first-order form into 0 in a specific time,
- wherein the error value is a difference between a to-be-adjusted value obtained from the detector and a target value, and after the error value is substituted into the error correcting function, the error correcting method further comprises:
- adjusting the to-be-adjusted value according to the error correcting function, such that the to-be-adjusted value is equal to the target value in the finite time.
An error correcting method, adapted for an unmanned aerial vehicle having a second-order controller, a first order controller, a memory and a detector, comprising:
- obtaining a motion sensing data of the unmanned aerial vehicle from the detector;
- obtaining an error value from the detector, wherein the error value is a difference between the motion sensing data and a target value, and the error value comprises one of a gravity error, a temperature error, an angle error, a magnetic force error, a distance error;
- and
- substituting the error value into an error correcting function by the second-order controller and the first order controller, such that the unmanned aerial vehicle based on the error correcting function causes the error value to converge to 0 in a finite time, wherein the error correcting function conforms to a non-Lipschitzian characteristic which indicates that a convergence value of a function is only 0, and the convergence value does not vary after converging to 0, wherein the error correcting function is {dot over (x)}2=−sin h(|x2|1/nsgn(x2)), wherein x2 is the error value and n is a hierarchy, wherein the second-order controller converts the error value of a second-order form into the error value of a first-order form, and the first-order controller converges the error value of the first-order form into 0 in a specific time,
- wherein the error value is a difference between a to-be-adjusted value obtained from the detector and a target value, and after the error value is substituted into the error correcting function, the error correcting method further comprises:
- adjusting the to-be-adjusted value according to the error correcting function, such that the to-be-adjusted value is equal to the target value in the finite time.
Dependencies are inferred from the claim text.