Transparency Enhancement in Teleoperation: An Improved Model-Free Predictor for Varying Network Delay in Telerobotic Application

2021 ◽  
Author(s):  
Nithya Sridhar ◽  
Rolif Lima ◽  
Utsav Rai ◽  
Vismay Vakharia ◽  
Kaushik Das ◽  
...  
Keyword(s):  
Network Delay ◽  
Model Free ◽  
Improved Model

scholarly journals Improved Model-Free Adaptive Sliding-Mode-Constrained Control for Linear Induction Motor considering End Effects

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xiaoqi Song ◽  
Dezhi Xu ◽  
Weilin Yang ◽  
Yan Xia ◽  
Bin Jiang
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Research Field ◽  
Constrained Control ◽  
End Effects ◽  
Linear Induction ◽  
Adaptive Sliding Mode ◽  
Model Free ◽  
Improved Model

As a kind of special motors, linear induction motors (LIM) have been an important research field for researchers. However, it gives a great velocity control challenge due to the complex nonlinearity, high coupling, and unique end effects. In this article, an improved model-free adaptive sliding-mode-constrained control method is proposed to deal with this problem dispensing with internal parameters of the LIM. Firstly, an improved compact form dynamic linearization (CFDL) technique is used to simplify the LIM plant. Besides, an antiwindup compensator is applied to handle the problem of the actuator under saturations in case during the controller design. Furthermore, the stability of the closed system is proved by Lyapunov stability method theoretically. Finally, simulation results are given to demonstrate that the proposed controller has excellent dynamic performance and stronger robustness compared with traditional PID controller.

An Improved Model-Free Sampling Technique Based on Bootstrap Methods

2016 ◽  
Author(s):  
Xinshui Yu ◽  
Zhaohui Yang ◽  
Kunling Song ◽  
Tianxiang Yu ◽  
Bozhi Guo
Keyword(s):  
Random Variables ◽  
Sampling Technique ◽  
Improved Method ◽  
Initial Sample ◽  
Bootstrap Methods ◽  
Local Characteristics ◽  
Model Free ◽  
Improved Model ◽  
Center Distance ◽  
Selection Of

The distribution and parameters of the random variables is an important part of conventional reliability analysis methods, such as Monte Carlo method, which should be known fist before using these methods, but it is often hard or impossible to obtain. Model-free sampling technique puts forward a method to get the distribution of the random variables, but the accuracy of the extended sample generated by it is not enough. This paper presented an improved model-free sampling technique, which is based on Bootstrap methods, to increase the accuracy of the extended sample and decrease the iteration times. In this improved model-free sampling technique, the method of the selection of initial sample points and the generation of iterative sample is improved. Meanwhile, a center distance criterion, which considers the local characteristics of the extended sample, is added to the generating criterion of dissimilarity measure. The effectiveness of this improved method is illustrated through some numerical examples.

scholarly journals An Improved Model-Free Current Predictive Control Method for SPMSM Drives

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 134672-134681
Author(s):  
Xuerong Li ◽  
Yang Wang ◽  
Xingzhong Guo ◽  
Xing Cui ◽  
Shuo Zhang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Method ◽  
Model Free ◽  
Free Current ◽  
Improved Model
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