Model-free control of a two-dimensional system based on uncertainty reconstruction and attenuation
Model-free control of a two-dimensional system based on uncertainty reconstruction and attenuation
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DOI：
10.1109/systol.2013.6693885
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
R. Madonski;P. Herman
中科院分区：
文献类型：
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作者：
R. Madonski;P. Herman
分析了无模型控制(MFC)技术的鲁棒性。实验测试是在一台二自由度实验室机械手上进行的。被考虑系统的多维、非线性、时变、交叉耦合和几乎未知的动态特性使得对这类对象的有效控制成为一项非常艰巨的任务。将所得结果与工业上广泛应用的经典PID控制器的结果进行了比较。收集的实验数据使MFC成为一种强大的容错方法，最终可能成长为当今工程实践中使用的控制器的引人注目的替代方案。
This paper analyses the robustness of the Model-Free Control (MFC) technique. The experimental tests are conducted on a 2DOF laboratory manipulator. The multi-dimensional, nonlinear, time-varying, cross-coupled, and mostly unknown dynamics of the considered system makes an effective control of such plant a highly demanding task. Obtained results are compared with the outcomes of a classical PID controller, widely used in industrial applications. The gathered experimental data makes the MFC a powerful fault-tolerant approach, that can eventually grow to a noticeable alternative to the controllers used in engineering practice nowadays.