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

Abstract : 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.
Document type :
Journal articles
Complete list of metadatas

https://hal-centralesupelec.archives-ouvertes.fr/hal-02276107
Contributor : Delphine Le Piolet <>
Submitted on : Monday, September 2, 2019 - 12:01:52 PM
Last modification on : Thursday, October 24, 2019 - 3:06:03 PM

Identifiers

Citation

Jing Wang, Hugues Mounier, Silviu-Iulian Niculescu, Marcel-Stefan Geamanu, Arben Cela. Event-driven model-free control in motion control with comparisons. IMA Journal of Mathematical Control and Information, Oxford University Press (OUP), 2016, 32, pp.1-21. ⟨10.1093/imamci/dnw023⟩. ⟨hal-02276107⟩

Share

Metrics

Record views

18