Data-Driven Model-Free Sliding Mode and Fuzzy Control with Experimental Validation

被引：16

作者：

Precup, R-E ^{[1
]}

Roman, R-C ^{[1
]}

Hedrea, E-L ^{[1
]}

Petriu, E. M. ^{[2
]}

Bojan-Dragos, C-A ^{[1
]}

机构：

[1] Politehn Univ Timisoara, Dept Automat & Appl Informat, Bd V Parvan 2, Timisoara 300223, Romania

[2] Univ Ottawa, Sch Elect Engn & Comp Sci, 800 King Edward, Ottawa, ON K1N 6N5, Canada

来源：

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL | 2021年 / 16卷 / 01期

基金：

加拿大自然科学与工程研究理事会;

关键词：

data-driven model-free fuzzy control; data-driven model-free sliding mode control; model-free control; 3D crane systems; FREE ADAPTIVE-CONTROL; NONLINEAR-SYSTEMS; FEEDBACK; DESIGN; ALGORITHMS; STABILITY; LOGIC; PERFORMANCE; DISCRETE;

D O I：

10.15837/ijccc.2021.1.4076

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 paper presents the combination of the model-free control technique with two popular nonlinear control techniques, sliding mode control and fuzzy control. Two data-driven model-free sliding mode control structures and one data-driven model-free fuzzy control structure are given. The data-driven model-free sliding mode control structures are built upon a model-free intelligent Proportional-Integral (iPI) control system structure, where an augmented control signal is inserted in the iPI control law to deal with the error dynamics in terms of sliding mode control. The data-driven model-free fuzzy control structure is developed by fuzzifying the PI component of the continuous-time iPI control law. The design approaches of the data-driven model-free control algorithms are offered. The data-driven model-free control algorithms are validated as controllers by real-time experiments conducted on 3D crane system laboratory equipment.

引用

页码：1 / 17

页数：17

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