Journal ArticleDOI
Discrete-Time Extended State Observer-Based Model-Free Adaptive Control Via Local Dynamic Linearization
TLDR
A local compact form dynamic linearization (local-CFDL) is developed at first to transform the original nonlinear nonaffine system into an affine structure consisting of both an unknown residual nonlinear time-varying term and a linearly parametric term affine to the control input.Abstract:
Linearization is often used for control design of nonlinear systems but what degree of a linearization is sufficient for the controller design is always a question. Furthermore, most of the existing linearization methods aim to develop a completely linear model without retaining any nonlinearity and thus the unmodeled dynamics unavoidably exists due to omitted higher order terms. In this article, a local compact form dynamic linearization (local-CFDL) is developed at first to transform the original nonlinear nonaffine system into an affine structure consisting of both an unknown residual nonlinear time-varying term and a linearly parametric term affine to the control input. A discrete-time extended state observer (DESO) is introduced to estimate the unknown residual nonlinear time-varying term as a new extended state. Then, a local-CFDL-based DESO-model-free adaptive control (MFAC) is proposed where the estimation of DESO is incorporated to compensate for the disturbances and uncertainties. Furthermore, a local partial-form dynamic linearization (local-PFDL) is also presented using multi-lag inputs and partial derivatives. And, a corresponding local-PFDL-based DESO-MFAC is proposed utilizing additional control information to improve control performance. The two proposed methods are both data-driven and do not require any explicit model information. Theoretical analysis shows the robust convergence of the proposed methods in the presence of disturbances. Simulations verify the effectiveness of the proposed method and show that the local-PFDL-based DESO-MFAC outperforms the local-CFDL-based one owing to the use of additional control information.read more
Citations
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Hybrid data-driven fuzzy active disturbance rejection control for tower crane systems
TL;DR: The least-squares algorithm specific to Virtual Reference Feedback Tuning is replaced with a metaheuristic optimization algorithm, i.e. Grey Wolf Optimizer, to exploit the advantages of data-driven control and fuzzy control.
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AUV Trajectory Tracking Models and Control Strategies: A Review
Daoliang Li,Ling Du +1 more
TL;DR: An overview of the main factors of control-oriented models and control strategies for AUVs is presented and the acceptability of the reported modeling and control techniques is established.
Journal ArticleDOI
A Fuzzy Approximation for FCS-MPC in Power Converters
TL;DR: In this article , a robust model predictive control framework, endowed with the merits of fuzzy logic system and finite control-set model predictive controller solution, is proposed to enhance the system robustness while guaranteeing adaptability to different conditions.
Journal ArticleDOI
Resilient Model-Free Adaptive Iterative Learning Control for Nonlinear Systems Under Periodic DoS Attacks via a Fading Channel
TL;DR: In this article , the authors studied the resilient control problem for a class of unknown nonlinear systems with fading measurements under malicious denial-of-service (DoS) attacks and proposed a model-free adaptive iterative learning control (MFAILC) scheme, which is independent of model information.
References
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Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
From PID to Active Disturbance Rejection Control
TL;DR: Active disturbance rejection control is proposed, which is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, and may very well break the hold of classical PID and enter a new era of innovations.
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Identification and control of dynamic systems using neural networks
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