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9th IEEE Data Driven control and Learning Systems Conference (DDCLS)

作者： Yu, Wei Bu, Xuhui Yin, Yanling Liang, Jiaqi Henan Polytech Univ Sch Elect Engn Jiaozuo 454000 Henan Peoples R China

ISBN: (纸本)9781728159225

This paper investigates the data driven model free adaptive control (MFAC) problem for a class of non-affine nonlinear systems with stochastic fading channels. Firstly, the phenomenon of signal fading is regarded as an independent stochastic process occurring at the output side, which has known mathematical expectations. Using an innovative linearization method, the considered non-affine system is converted into a linear model with a time-varying parameter called PPD and the MFAC controller is redesigned by utilizing the faded outputs. The stability of the system is analyzed rigorously and the influence of incomplete signal transmission on system convergence is explored. Finally, a numerical example shows the validity of the presented strategies.

关键词： data driven model free adaptive control fading channels stability analysis

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Data-driven sliding mode control: a new approach based on optimization

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INTERNATIONAL JOURNAL OF control 2020年第8期93卷 1980-1988页

作者： Ebrahimi, Nahid Ozgoli, Sadjaad Ramezani, Amin Tarbiat Modares Univ Dept Comp & Elect Engn Tehran Iran

In this paper a model free sliding mode controller (SMC) based on a novel reaching law for SISO nonlinear systems is provided. The novelty of the work lies in the approach used to achieve the reaching law. The proposed reaching law is more general than those proposed in recent works. Naturally, it is consistent with the proposed control law, which is composed of an optimal term and an exponential switching term. A proper cost function forces the sliding variable and its derivative to vanish. The switching part consists of an exponential term, which decreases the quasi-sliding domain. It is shown analytically that the sliding function enters and remains in the quasi-sliding bound. In addition, the UUB stability of error is rigorously proved. Computer simulation in different scenarios and comparison to the simple model free SMC and model free adaptive control methods has been provided to show better performance of the proposed method, compared with the mentioned methods.

关键词： model free adaptive control sliding mode control data driven control tracking error convergence optimization

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Data-driven adaptive control of wide-area non-linear systems with input and output saturation: A power system application

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2021年 133卷

作者： Asadi, Yasin Farsangi, Malihe Maghfoori Bijami, Ehsan Amani, Ali Moradi Lee, Kwang Y. Shahid Bahonar Univ Kerman Kerman Iran RMIT Univ Melbourne Vic Australia Baylor Univ Waco TX 76798 USA

In this paper, a Data-Driven adaptive controller is proposed for wide-area Multi-Input and Multi-Output (MIMO) non-linear systems featuring input-output saturations. Complexity has always been a major concern in the modeling and control of real-world industrial processes. Traditionally, researchers look for simplified and enough precise models of these systems. However, with the significant advancement in sensor and communication technologies, a considerable amount of data is available from the process which may compensate for the lack of precise models. The emerging data-driven control systems perform both identification and control actions based on data collected from the process, making the system less dependent on a pre-identified model. In this context, an efficient MIMO Data-Driven adaptive control (MIMO-DDAC) is designed in this paper for stabilizing a class of unknown non-linear systems. A recursive modeling/control process is proposed for the MIMO systems in the presence of saturation in sensors and actuators, and its stability and performance are mathematically proved. This approach is applied to the load frequency control problem in an interconnected multi-area power grid in the presence of governor saturation, load and parametric uncertainties. Simulation results reveal the effectiveness of the proposed method.

关键词： Data-driven control Load frequency control model free adaptive control Automatic generation control Wide-area non-linear system

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Data driven adaptive robust attitude control for a small size unmanned helicopter

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2022年 177卷

作者： Xian, Bin Gu, Xun Pan, Xiaolong Tianjin Univ Sch Elect & Informat Engn Tianjin Peoples R China Guiyang Univ Sch Elect & Commun Engn Guizhou Peoples R China Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China

In this paper, the data driven based control design problem for a small size unmanned helicopter is investigated. The helicopter is subjected to the effects associated with modeling uncertainties and unknown external disturbances. A new model free robust adaptive attitude control law is proposed with the combination of the model-free-adaptive-control (MFAC) design, the immersion and invariance (I&I) approach, and the super-twisting technique. Different from the most existing linear or nonlinear model-dependent control designs for unmanned helicopters, the proposed control strategy requires very less model knowledge. The controller depends mainly on the input and output data of the helicopter, and no boundedness knowledge of the unknown disturbances is required. Stability of the closed-loop system has been proved. Real-time flight experiments have been performed on the self-developed helicopter testbed only with the available feedback data of the helicopter. The experimental results have validated the good robustness of the proposed control methodology.

关键词： Data driven control Unmanned helicopter Immersion and invariance model free adaptive control Super-twisting control

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model-free high-order terminal sliding mode controller for Lipschitz nonlinear systems. Implemented on Exoped® exoskeleton robot

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2021年第5期52卷 1061-1073页

作者： Ebrahimi, Nahid Ozgoli, Sadjaad Ramezani, Amin Tarbiat Modares Univ Dept Elect & Comp Engn Tehran Iran

In this paper, a model-free high-order terminal sliding mode controller (TSMC) is developed for single input-single output Lipschitz nonlinear systems in presence of external disturbances. The proposed method is data-driven, i.e. it is based on online input and output information. In another word, the method is not model-based and can be applied to systems with unknown dynamics. The proposed method employs a high-order switching surface to mitigate the chattering problem. The disturbance estimation technique is also applied to overcome external disturbances. Rigorous theoretical analysis is carried out to verify convergence of states to the switching surface. To demonstrate the effectiveness and applicability of the proposed approach in different situations, several simulations are provided in addition to experimental studies. Experimental tests are implemented on an exoskeleton robot which follows the human gait trajectory in normal and uncertain conditions. In all studies, the results of the proposed method are compared with model free Linear Sliding Mode control. It is shown that the proposed method has a better performance.

关键词： Data driven control sliding mode control model free adaptive control terminal sliding mode control exoskeleton robot

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Research on data driven adaptive berthing method and technology

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OCEAN ENGINEERING 2021年 222卷

作者： Xiong, Yong Yu, Jiajun Tu, Yijing Pan, Lin Zhu, Qige Mou, Junmin Wuhan Univ Technol Sch Nav Wuhan 430063 Peoples R China Hubei Key Lab Inland Shipping Technol Wuhan 430063 Peoples R China Wuhan Univ Technol Sch Logist Engn Wuhan 430063 Peoples R China Zhongshan Inst Adv Engn Technol WUT Zhongshan 528437 Peoples R China Shanghai Jiao Tong Univ State Key Lab Ocean Engn Shanghai 200240 Peoples R China Natl Engn Res Ctr Water Transport Safety WTS Ctr Wuhan 430063 Peoples R China

In this paper, a hardware architecture of real-time dynamic data collection is designed, and the method of direct motion control based on the feedback data is used to realize the automatic berthing of the ship. In this method, a ship-based microwave radar array is used to detect the relative position, attitude of the ship and distance from the berth shoreline. According to the precise definition of ship berthing state, an automatic berthing method composed of upper scheduling and lower control is proposed. The results of real ship experiments show that the method is feasible and practical.

关键词： Automatic berthing model free adaptive control Data driven control Microwave radar array

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Resilience enhancement to loss of actuator effectiveness in a model-free adaptive framework

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2024年第11期361卷

作者： Corradini, Maria Letizia Univ Camerino Sch Sci & Technol Math Div via Madonna Carceri I-62032 Camerino MC Italy

Within the theoretical framework supporting the model free adaptive control approach, this paper investigates on the presence of possible loss of effectiveness affecting the actuator of a Single -Input Single -Output plant. In particular, stemming from a tracking controller proposed in a seminal paper and the related proofs, an identification algorithm is proposed for the estimation of the loss of effectiveness, with proved bounded estimation error, along with a condition for the detection of actuator faults. A fault -resilient tracking controller is finally proposed, based on the estimated loss of effectiveness, providing asymptotically vanishing tracking error. A comparative analysis by simulation on a benchmark system taken from the pertinent literature is also presented to validate the proposed development.

关键词： Data-driven fault accommodation Actuator faults model free adaptive control

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A More Optimal Stochastic Extremum Seeking control Using Fractional Dithering For A Class of Smooth Convex Functions ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3737-3742页

作者： Derek Hollenbeck YangQuan Chen University of California Merced Merced CA 95343 USA

adaptive control such as extremum seeking control (ESC) can be a very useful tool to optimize problems with smooth convex functions. However, some systems can be noisy or contain non-convex regions where the solution may result in a local minimum or maximum. Using perturbation based ESC with appropriate amplitude, one can overcome local regions to find the global extremum. This work introduces fractional dithering noise into stochastic ESC to improve performance for a class of smooth convex functions. Noise with long range dependent behavior can yield a more optimal solution.

关键词： Stochastic adaptive control Extremum seeking model free adaptive control Fractional systems fractional-order systems Dithering

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Extremum Seeking Under Distributed Input Delay ⁎

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IFAC-PapersOnLine 2020年第2期53卷 5423-5428页

作者： Daisuke Tsubakino Tiago Roux Oliveira Miroslav Krstic Department of Aerospace Engineering Nagoya University Nagoya Japan Department of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro Brazil Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla CA USA

In this paper, we propose an extremum seeking scheme for single-parameter static maps in the presence of distributed input delay. A probing signal is newly developed so that the delayed signal has a conventional form in standard extremum seeking problems. An update law for an estimate of the unknown argument of the extremum is designed based on the idea of the predictor feedback law. We prove the convergence of the estimation error to a neighborhood of the origin by means of the method of averaging. The effectiveness of the proposed scheme is confirmed by a numerical simulation.

关键词： Extremum seeking model free adaptive control delay compensation for linear nonlinear systems averaging for infinite dimensional systems Lyapunov methods

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An Extremum Seeking Approach to Search and Rescue Operations in Avalanches using ARVA ⁎

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IFAC-PapersOnLine 2020年第2期53卷 1627-1632页

作者： Ilario A. Azzollini Nicola Mimmo Lorenzo Marconi CASY - DEI University of Bologna Italy

Search and rescue operations in avalanches can greatly benefit from the support of unmanned aerial vehicles, which could safely and autonomously fly above the snow surface to estimate the position of the victim. This work relies upon the Appareil de Recherche de Victimes (ARVA), which consists of a transmitter and a receiver. The transmitter is worn by the victim and produces an electromagnetic field that can be sensed by the receiver, integrated on the drone. A receiver able to sense the complete 3D electromagnetic field has been developed, whose model and properties are presented in this work. The main contribution of this work is the development of a control algorithm able to drive the ARVA-equipped drone as close as possible to the victim location.

关键词： ARVA Autonomous Robotic Systems Extremum Seeking model free adaptive control Flying Robots Search Rescue

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