A control method for a cleaning system, comprising the following steps: first control step—controlling a transfer robot to move a cleaning robot to a cleaning area; cleaning control step—controlling the cleaning robot to perform a cleaning operation on a upper surface of the cleaning area; second control step—controlling a transfer robot to move the cleaning robot away from the cleaning area.

A control method for a cleaning system, comprising the following steps: first control step—controlling a transfer robot to move a cleaning robot to a cleaning area; cleaning control step—controlling the cleaning robot to perform a cleaning operation on a upper surface of the cleaning area; second control step—controlling a transfer robot to move the cleaning robot away from the cleaning area.

A bionic visual navigation control system for autonomous aerial refueling docking includes: a tanker/receiver bottom layer control module, a multi-wind disturbances hose-drogue stable control module, an enable and select module, a close-range bionic vision relative navigation module, and a receiver relative position precise control module. A bionic visual navigation control method for autonomous aerial refueling docking is also provided. The present invention aims at improving the reliability, anti-interference and accuracy of the close-range relative navigation in the autonomous air refueling docking stage, and designs a matching relative position accurate control method with control switch, thereby improving the accuracy of close-range navigation and control, thereby promoting the successful realization of probe-and-drogue autonomous aerial refueling and improving the autonomy of UAVs.

A bionic visual navigation control system for autonomous aerial refueling docking includes: a tanker/receiver bottom layer control module, a multi-wind disturbances hose-drogue stable control module, an enable and select module, a close-range bionic vision relative navigation module, and a receiver relative position precise control module. A bionic visual navigation control method for autonomous aerial refueling docking is also provided. The present invention aims at improving the reliability, anti-interference and accuracy of the close-range relative navigation in the autonomous air refueling docking stage, and designs a matching relative position accurate control method with control switch, thereby improving the accuracy of close-range navigation and control, thereby promoting the successful realization of probe-and-drogue autonomous aerial refueling and improving the autonomy of UAVs.

A drive device includes a drive member, a light source, a marker, a detector, a signal processor and a strain controller. The drive member includes at least a material which generates a plasmon. The drive member generates strain in response to input energy. The marker is formed on a surface of the drive member. Strain occurs in the marker in accordance with a deformation of the drive member and the marker reflects or transmits light emitted from the light source. The detector detects a light intensity of light reflected from or transmitted through the marker. The signal processor calculates an amount of strain which occurs in the marker based on the light intensity. The strain controller controls an amount of strain of the drive member based on the amount of strain calculated by the signal processor.

A control system for controlling a set of actuators of a system. The control system comprising a switcher configured to select a subset of setpoints from a set of setpoints that control the corresponding set of actuators. An extremum-seeking controller (ESC) configured to perturb a subset of setpoints at each iteration based on a probabilistic distribution of partial gradients of a cost function relating values of the subset of setpoints to a cost of operation of the system. A stochastic gradient estimator is configured to estimate a full gradient of the cost function and update the estimation of the full gradient based on the probabilistic distribution of the partial gradients generated at each ESC iteration. A feedback controller is configured to drive a state of the subset of actuators of the system towards the corresponding perturbed subset of setpoints.

A control system for controlling a set of actuators of a system. The control system comprising a switcher configured to select a subset of setpoints from a set of setpoints that control the corresponding set of actuators. An extremum-seeking controller (ESC) configured to perturb a subset of setpoints at each iteration based on a probabilistic distribution of partial gradients of a cost function relating values of the subset of setpoints to a cost of operation of the system. A stochastic gradient estimator is configured to estimate a full gradient of the cost function and update the estimation of the full gradient based on the probabilistic distribution of the partial gradients generated at each ESC iteration. A feedback controller is configured to drive a state of the subset of actuators of the system towards the corresponding perturbed subset of setpoints.

A cascade control system of an optical fiber amplifier includes a target setting parameter module, a primary controller, at least one controlled module and a secondary controller corresponding to the controlled module. The control system adopts two or more cascade control loops so that disturbance entering into the secondary loop can be overcome quickly, thereby the dynamic characteristics of the system may be improved. The primary controller aims to coarse adjustment and overall target control, and the secondary controller aims to fine adjustment and quick convergence of a short-term target, so that the control quality of the cascade control system may be further improved. The cascade control system may define the overall control target directly in the primary loop and avoid impact of aging characteristics of some special parameters on the application.

A cascade control system of an optical fiber amplifier includes a target setting parameter module, a primary controller, at least one controlled module and a secondary controller corresponding to the controlled module. The control system adopts two or more cascade control loops so that disturbance entering into the secondary loop can be overcome quickly, thereby the dynamic characteristics of the system may be improved. The primary controller aims to coarse adjustment and overall target control, and the secondary controller aims to fine adjustment and quick convergence of a short-term target, so that the control quality of the cascade control system may be further improved. The cascade control system may define the overall control target directly in the primary loop and avoid impact of aging characteristics of some special parameters on the application.

A control device for tuning a servo motor is suggested. The control device comprises a calculation unit configured to determine a current proportional speed gain of the servo motor and to calculate a stabilization time ratio based on a current stabilization time of the servo motor and a target stabilization time, a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, to determine a next proportional speed gain using the selected gain determination process starting from the current proportional speed gain, wherein the calculation unit is further configured to update parameters of the servo motor according to the determined next proportional speed gain, and a control unit configured to generate a control signal for controlling the servo motor for driving a load based on the updated parameters.