Event-driven model-free control in motion control with comparisons

被引：12

作者：

Wang, Jing ^{[1
]}

Mounier, Hugues ^{[1
]}

Niculescu, Silviu-Iulian ^{[1
]}

Geamanu, Marcel-Stefan ^{[2
]}

Cela, Arben ^{[3
]}

机构：

[1] Univ Paris Sud, Univ Paris Saclay, Cent Supelec, L2S,CNRS, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France

[2] Renexter Renault, Auto Int B dul Iuliu Maniu, 7,Corp B,Et 2,Sect 6, Bucharest, Romania

[3] UPE, ESIEE Paris, Comp Sci & Telecommun Dept, 2 Bd Blaise Pascal, F-93162 Noisy Le Grand, France

来源：

IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION | 2017年 / 34卷 / 04期

关键词：

model-free control; event-driven control; intelligent PID; quadrotor control; vehicular control;

D O I：

10.1093/imamci/dnw023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The event-driven model-free control is proposed in this article, which deals with the 'trade-off' between computational cost and system performance. Model-free controllers demand low computational resources and have high robustness, which is especially suitable for embedded systems with complex dynamics and/or affected by disturbances. The proposed method is implemented in two distinct nonlinear Multiple Input, Multiple Output (MIMO) motion models: a quadrotor model hovering in different weather circumstances and a vehicular friction control model operating in variable road surface conditions. Under the time- and event-driven schemes, the model-free control is compared with standard control strategies in various realistic scenarios.

引用

页码：1255 / 1275

页数：21

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