Aiming at the speed regulation problem of permanent magnet synchronous motor (PMSM) drives, a novel backstepping nonsingular terminal sliding mode control (BNTSMC) method with finite-time disturbance observer (FTDO) is proposed. In order to ensure excellent tracking and anti-disturbance performance, the backstepping nonsingular terminal sliding mode speed controller based on equivalent motor model and the recursive principle is designed for PMSM. The benefits of this approach are that the controller has asymptotic stability based on backstepping design and strong robustness for the matched disturbance based on sliding mode control. Then, to further improve the anti-disturbance performance, a finite-time disturbance observer is designed, and it is used to estimate the mismatched external disturbance in motor drive system. The stability of the system is also proved with Lyapunov criterion. Finally, the experimental results show that the proposed method has the advantages of fast convergence and strong robustness against parameter variations and external disturbance.

In this article, the improved command-filteringbased fixed-time fuzzy adaptive control of strict-feedback uncertain nonlinear systems with full state constraints is studied. Firstly, a new filtering approach is designed to improve the convergence speed and solve the “explosion of complexity” problem. And the filtering error can be effectively eliminated by a novel compensating mechanism. Then, barrier Lyapunov function with the filtering approach handles full state constraints in the system, so that the states will not violate the specified ranges. The proposed method ensures the tracking error converges to the neighborhood of the origin rapidly in a fixed time. Finally, the effectiveness and advantages of the proposed method is verified through simulation of a single link robot system.

In this article, a fixed-time adaptive fuzzy control via filter and observer for uncertain nonlinear systems with disturbances and its application in permanent magnet synchronous motors (PMSMs) is studied. First, the fixed-time command filter with compensation mechanism is designed to solve the “explosion of computational” problem and eliminate filtering errors. Then, notice that the external disturbances in the systems, a fixed-time disturbance observer is proposed to compensate external disturbances through feed-forward control. It is demonstrated that all closed-loop signals in the system are bounded and good tracking performance is achieved in fixed time. Finally, the feasibility and advantages of the proposed method is validated by the simulation and experiment of PMSMs.

Virtual and augmented reality technology is increasingly used in the field of cultural creation, and intangible cultural heritage has become an important element in the field of cultural creation. Taking the intangible cultural heritage Suona art as an example, based on the analysis of Suona art background, development and communication status, this paper puts forward the design idea of the Suona virtual scene system. Using virtual display development engine Unreal Engine 4 and data import plug-in Datasmith, combined with LBS (location-based service) technology, the design and construction of the Suona art virtual scene are realized. The system analyzes the artistic characteristics of Suona's famous song " Birds paying homage to the Phoenix" and integrates it into the crescent spring scenic spot, which improves the immersion, interactivity and imagination of the scene experience. At the same time, the interactive system provides new ideas and effective practical solutions for the spread of Suona's intangible cultural heritage culture.

Permanent magnet synchronous motor (PMSM) drive system is widely used in industrial applications. To satisfy their high-performance requirements, disturbance compensation-based current-limiting control for the speed regulation of PMSM drive system with predefined-time (PT) performance is investigated. First, to address the risk of excessive current in the PMSM drive system, the current penalty function is introduced to model the system considering current-limiting, effectively balancing the dynamic performance and current-limiting. Then, the PT technology is used to make the desired speed reach the reference speed within a PT. To handle the problem of uncertain PMSM parameters and external disturbances, a disturbance observer effectively estimates the disturbances and feed-forward compensation into the controller. Moreover, the command filter together with the filter error compensation mechanism is constructed to solve the virtual control law derivation and filter error problems in controller design. The stability of the closed-loop system using Lyapunov functions is established. Finally, the validity of the proposed method is validated by the experiment results of the PMSM drive system.

This paper presents a human-in-the-loop (HiTL) intelligent adaptive control scheme for unmanned surface vehicles (USVs) that accounts for uncertain dynamics, with the goal of effectively monitoring marine pollutants. To tackle the challenges posed by complex aquatic monitoring environments, this approach integrates human intelligence into the navigation strategy of USVs, allowing for superior path planning through human decision-making. Additionally, a potential field-based obstacle avoidance strategy is developed to ensure the safe operation of USVs within this HiTL framework. To address issues related to system uncertainties, we propose a novel adaptive fuzzy control strategy based on convex optimization, which enhances overall control performance. Finally, stability analysis and simulation results demonstrate the effectiveness of the proposed method. The verification results show that compared with traditional adaptive fuzzy controllers, our control strategy effectively reduces control errors.