Model-Free Controller Design for a Single-Link Flexible Smart Materials Robot

1998 ◽  
Vol 31 (27) ◽  
pp. 133-138
Author(s):  
S.S. Ge ◽  
T.H. Lee ◽  
J.Q. Gong
2000 ◽  
Vol 73 (6) ◽  
pp. 531-544 ◽  
Author(s):  
S. S. Ge ◽  
T. H. Lee ◽  
J. Q. Gong ◽  
Z. P. Wang

Author(s):  
Xingge Li ◽  
Shufeng Zhang ◽  
Yashun Wang ◽  
Yao Liu ◽  
Zhengwei Fan ◽  
...  

Based on non-affine models of hypersonic space vehicles, the tracking control problem of hypersonic vehicles is studied and analyzed in this article using funnel robust model-free control mechanism considering parametric uncertainty and external disturbances. First, the control system is decomposed into altitude subsystem and velocity subsystem. For altitude subsystem, we propose a concise funnel robust model-free control mechanism based on error driving, and a novel model transformation approach is applied to the controller design. The new model-free controller only contains a Hurwitz stable term and a filtering term, and does not need precise motion model and too much calculation, so it can improve the calculation speed of the system. For velocity subsystem, only a concise proportional-integral controller is needed to meet the tracking requirements. Moreover, the devised controller is capable of guaranteeing funnel performance on the altitude and velocity tracking errors. Finally, numerical simulation results are presented to verify the efficiency of the design.


2020 ◽  
pp. 107754632094092
Author(s):  
Ansei Yonezawa ◽  
Itsuro Kajiwara ◽  
Heisei Yonezawa

The purpose of this research is to construct a simple and practical controller design method, considering the actuator’s parameter uncertainty, without using a model of controlled objects. In this method, a controller is designed with an actuator model including a single-degree-of-freedom virtual structure inserted between actuator and controlled object, resulting in a model-free controller design. Furthermore, an [Formula: see text] control problem is defined so that the actuator’s parameter uncertainty is compensated by satisfying a robust stability condition. Because the actuator model including the virtual controlled object is a simple low-order system, and the actuator’s parameter uncertainty is considered, a controller with high robustness to the actuator’s parameter uncertainty can be designed based on traditional model-based control theory. The effectiveness of the proposed method is verified by both simulation and experiment.


Author(s):  
Maroua Haddar ◽  
Riadh Chaari ◽  
S Caglar Baslamisli ◽  
Fakher Chaari ◽  
Mohamed Haddar

A novel active suspension control design method is proposed for attenuating vibrations caused by road disturbance inputs in vehicle suspension systems. For the control algorithm, we propose an intelligent PD controller structure that effectively rejects online estimated disturbances. The main theoretical techniques used in this paper consist of an ultra-local model which replaces the mathematical model of quarter car system and a new algebraic estimator of unknown information. The measurement of only input and output variables of the plant is required for achieving the reference tracking task and the cancellation of unmodeled exogenous and endogenous perturbations such as roughness road variation, unpredictable variation of vehicle speed and load variation. The performance and robustness of the proposed active suspension algorithm are compared with ADRC control and LQR control. Numerical results are provided for showing the improvement of passenger comfort criteria with model-free control.


2019 ◽  
Vol 15 (3) ◽  
pp. 1361-1371 ◽  
Author(s):  
Yinliang Xu ◽  
Wei Zhang ◽  
Mo-Yuen Chow ◽  
Hongbin Sun ◽  
Hoay Beng Gooi ◽  
...  

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