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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.
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Submitted on : Monday, September 2, 2019 - 12:01:52 PM
Last modification on : Friday, July 8, 2022 - 10:05:22 AM



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, 2016, 32, pp.1-21. ⟨10.1093/imamci/dnw023⟩. ⟨hal-02276107⟩



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