检索结果-南通市图书馆

model-free control Using Nonlinear Extended State Observer and Non-singular Fast Terminal Sliding Mode for Quadrotor Position and Attitude

在线全文

学校读者我要写书评

暂无评论

Model-Free Control Using Nonlinear Extended State Observer a...

第三十九届中国控制会议

作者： Dingxin He Haoping Wang Yang Tian School of Automation Nanjing University of Science and Technology

In this paper, a nonlinear extended state observer（NESO）-based model-free non-singular fast terminal sliding mode control（NESO-TSMC） is developed for trajectory tracking control and attitude control of a quadrotor UAV which is flying under wind and other external disturbances. In the proposed NESO-TSMC, the NESO is designed to provide the estimations of system states, lumped uncertainties and external disturbances of the system. With the designed NESO, a NESO-TSMC is proposed,such that tracking error converges to zero in a finite time. Finally, to present the performance of the proposed NESO-TSMC,numerical simulation results have been obtained and compared with results of PD, iPD, SM, MFSM controls.

关键词： Quadrotor UAV Nonlinear Extended State Observer model-free control Non-singular Fast Terminal Sliding Mode

The Multi-variable control Method Based on model-free control and Its Simulation in the Ball Mill

在线全文

cnki会议

学校读者我要写书评

暂无评论

The Multi-variable Control Method Based on Model-free Contro...

2010 Chinese control and Decision Conference

作者： Cheng Qi-ming,Cheng Yin-man,Wang Ying-fei,Wang Ming-mei College of Electric Power and Automation,Shanghai University of Electric Power,Shanghai 200090,China

＜正＞The control method of multi-variable coupling control based on model-free control is *** theory and the design idea of the control method are discussed,the structure of control system is given,and the decoupling characteristics of the control method is *** this paper,the characteristics of ball mill pulverizing control system are analyzed,and the control method is applied and simulated to the ball mill *** simulation results show that the control system has perfect decoupling and self-learning control performance for multi-variable,strong-coupled,time-varying ball mill pulverizing control system.

关键词： model-free control Multi-variable Decoupling control Ball Mill

Double Neuron model-free control for pH Processes

在线全文

cnki会议

学校读者我要写书评

暂无评论

Double Neuron Model-free Control for pH Processes

2010 Chinese control and Decision Conference

作者： Li Zhang~(1,2),Ning Wang~1 1.National Laboratory of Industrial control Technology,Institute of Cyber-Systems and control Zhejiang University,Hangzhou,310027,China 2.College of Automation and Electrical Engineering,ZheJiang University of Science and Technology,Hangzhou,310023,China

＜正＞A double neuron model-free control method for pH processes is *** this control system,the principal neuron controller is designed to control pH processes,and the subordinate neuron controller is used to compensate for the nonlinear *** purpose of improving response speed and reducing errors is *** results show the efficiency,good disturbance resistibility and very strong robustness of the proposed method.

关键词： model-free control Double neuron control Nonlinear plants pH process

A framework to develop and test a model-free motion control system for a forestry crane

在线全文

cnki会议

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2023年第4期3卷 75-87页

作者： Pedro La Hera Omar Mendoza-Trejo Hakan Lideskog Daniel Ortíz Morales Swedish University of Agricultural Sciences Department of Forest Biomaterials and TechnologyUmea90183Sweden Lulea University of Technology Department of Engineering Sciences and MathematicsLulea 97187Sweden CRANAB AB Vindeln 92232Sweden

This article has the objective of presenting our method to develop and test a motion control system for a heavy-duty hydraulically actuated manipulator,which is part of a newly developed prototype featuring a fully-autonomous unmanned forestry *** control algorithm is based on functional analysis and differential algebra,under the concepts of a new type of approach known as model-free intelligent PID control(iPID).As it can be unsafe to test this form of control directly on real hardware,our main contribution is to introduce a framework for developing and testing control *** framework incorporates a desktop-size mockup crane equipped with comparable hardware as the real one,which we design and manufactured using *** downscaled mechatronic system allows to safely test the implementation of control software in real-time hardware directly on our desks,prior to the actual testing on the real *** results demonstrate that this development framework is useful to safely test control software for heavy-duty systems,and it helped us present the first experiments with the world’s first unmanned forestry machine capable of performing fully autonomous forestry tasks.

关键词： model-free control Hydraulic manipulator Forestry crane control Intelligent PID control Forestry automation controller implementation

The auxiliary controller design based on model-free control in the brain-machine interface

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

The auxiliary controller design based on model-free control ...

第30届中国控制与决策会议

作者： Hongguang Pan Wenyu Mi Mei Wang Jinggao Sun College of Electric and control Engineering Xi'an University of Science and Technology Key Laboratory of Advanced control and Optimization Technology of Ministry of Education East China University of Science and Technology

In this paper, a model-free control（MFC） method is used to design an artificial feedback to compensate the lack of natural feedback and achieve the reaching task for a voluntary single joint. Considering the MFC only depends on the I/O data of system, and does not need the system model, it can avoid the complex analysis on the brain model, and reduce the difficulty of controller design. Moreover, through choosing different pseudo-partial-derivative values, the influence of the pseudo-partialderivative value is analyzed and a series of control results are given;further, the computing efficiency is improved drastically through a comparison in the simulation.

关键词： auxiliary controller model-free control brain-machine interface

A Fractional-Order Ultra-Local model-Based Adaptive Neural Network Sliding Mode control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

在线全文

cnki会议

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 760-781页

作者： Dingxin He HaoPing Wang Yang Tian Yida Guo the School of Automation Nanjing University of Science and TechnologyNanjing 210094China IEEE Norinco Group Institute of Navigation and control Technology Beijing 100089China

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input *** the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller ***,the control gain of ultra-local model is considered as a *** fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped ***,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is ***,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown ***,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown ***,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is ***,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov ***,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

关键词： Adaptive control input deadzone model-free control n-DOF upper-limb exoskeleton neural network

Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2018年第7期31卷 1568-1578页

作者： Yasser BOUZID Houria SIGUERDIDJANE Yasmina BESTAOUI IBISC Laboratory Université d'Evry Val d'Essonne Université Paris-Saclay L2S CentraleSupélecUniversité Paris-Saclay

In this work, a Revisited form of the so-called model-free control（R-MFC） is ***, the MFC principle is employed to deal with the unknown part of a plant only（i.e., unmodeled dynamics, disturbances, etc.） and occurs beside an Interconnection and Damping AssignmentPassivity Based control（IDA-PBC） strategy. Using the proposed formulation, it is shown that we can significantly improve the performance of the control through the reshaping properties of the IDA-PBC technique. Moreover, the control robustness level is increased via a compensation of the time-varying disturbances and the unmodeled system dynamics. This on-line compensation capability is provided by the MFC principle. The problem is studied in the case of Multi-Input Multi-Output（MIMO） mechanical systems with an explicit application to a small Vertical Take-Off and Landing（VTOL） Unmanned Aerial Vehicle（UAV） where a stability analysis is also provided. Numerical simulations have shown satisfactory results, in comparison with some other control strategies, where an in-depth discussion with respect to the control performance is highlighted by considering several scenarios and using several metrics.

关键词： IDA-PBC model-free control Nonlinear flight control Robust control Trajectory tracking

A robust model-free controller for a three-phase grid-connected photovoltaic system based on ultra-local model

在线全文

学校读者我要写书评

暂无评论

Protection and control of Modern Power Systems 2021年第1期6卷 538-550页

作者： Ahsene Boubakir Sid-Ahmed Touil Salim Labiod Nasserdine Boudjerda LAJ Faculty of Science and TechnologyUniversity of JijelBP.98Ouled Aissa18000JijelAlgeria Department of Electrical Engineering University of JijelJijelAlgeria LER Faculty of Sciences and TechnologyUniversity of JijelBP 98Ouled Aissa18000JijelAlgeria

In this paper, a robust model-free controller for a grid-connected photovoltaic (PV) system is designed. The system consists of a PV generator connected to a three-phase grid by a DC/AC converter. The control objectives of the overall system are to extract maximum power from the PV source, to control reactive power exchange and to improve the quality of the current injected into the grid. The model-free control technique is based on the use of an ultra-local model instead of the dynamic model of the overall system. The local model is continuously updated based on a numerical differentiator using only the input–output behavior of the controlled system. The model-free controller consists of a classical feedback controller and a compensator for the effects of internal parameter changes and external disturbances. Simulation results illustrate the efficiency of the controller for grid-connected PV systems.

关键词： Photovoltaic system Maximum power point model-free control Ultra-local model Numerical differentiator

Which is the Best PID Variant for Pneumatic Soft Robots?An Experimental Study

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 451-460页

作者： Ameer Hamza Khan Zili Shao Shuai Li Qixin Wang Nan Guan Department of Computing Hong Kong Polytechnic UniversityHong KongChina Department of Computer Science and Engineering Chinese University of Hong KongHong KongChina Department of Electronics and Electrical Engineering Swansea UniversitySwansea SA18ENUK

This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft *** using soft materials,soft robots have gained much attention in academia and industry during recent years because of their inherent safety in human ***,due to structural flexibility and compliance,mathematical models for these soft robots are nonlinear with an infinite degree of freedom(DOF).Therefore,accurate position(or orientation)control and optimization of their dynamic response remains a challenging *** existing soft robots currently employed in industrial and rehabilitation applications use model-free control algorithms such as ***,to the best of our knowledge,there has been no systematic study on the comparative performance of model-free control algorithms and their ability to optimize dynamic response,i.e.,reduce overshoot and settling *** this paper,we present comparative performance of several variants of model-free PID-controllers based on extensive experimental ***,most of the existing work on modelfree control in pneumatic soft-robotic literature use manually tuned parameters,which is a time-consuming,labor-intensive *** present a heuristic-based coordinate descent algorithm to tune the controller parameter *** presented results for both manual tuning and automatic tuning using the Ziegler-Nichols method and proposed algorithm,*** then used experimental results to statistically demonstrate that the presented automatic tuning algorithm results in high *** experiment results show that for soft robots,the PID-controller essentially reduces to the PI *** behavior was observed in both manual and automatic tuning experiments;we also discussed a rationale for removing the derivative term.

关键词： Automatic tuning algorithm model-free control PID soft robotics