Data-driven optimal model-free control of twin rotor aerodynamic systems

“…The gains of the MFC controller can be tuned through the estimations of the uncertainties, which bring out better performance compared with the classical controller. Many scholars have successfully applied the MFC scheme to deal with uncertainties and external disturbances in many areas, essentially attitude control of a quadrotor [20], a two-wheeled inverted pendulum [21], lapping-wing lying robot [22], robotic exoskeleton [23], experimental green-houses [24], glycemia regulation of type-1 diabetes [25], thermal processes [26], wheeled autonomous vehicles [27], twin-rotor aerodynamic system [28] and more. To the best of our knowledge, there is no literature on the model-free control for teleoperation systems.…”

Section: Introductionmentioning

confidence: 99%

Model-Free Sliding Mode Control for a Nonlinear Teleoperation System with Actuator Dynamics

Abdelwaheb,

Abderrahmane,

AEK

2023

JAMRIS

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Teleoperation robotic systems control, which enables humans to perform activities in remote situations, has become an extremely challenging field in recent decades. In this paper, a Model Free Proportional-Derivative Sliding Mode Controller (MFPDSMC) is devoted to the synchronization problem of teleoperation systems subject to actuator dynamics, time-varying delay, model uncertainty, and input interaction forces. For the first time, the teleoperation model used in this study combines actuator dynamics and manipulator models into a single equation, which improves model accuracy and brings it closer to the actual system than in prior studies. Further, the proposed control approach, called Free, involves the simple measurement of inputs and outputs to enhance the system's performance without relying on any knowledge from the mathematical model. In addition, our strategy includes a Sliding Mode term with the MFPD term to increase system stability and attain excellent performance against external disturbances. Finally, using the Lyapunov function under specified conditions, asymptotic stability is established, and simulation results are compared and provided to demonstrate the efficacy of the proposed strategy.

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“…Applications are not limited to vibration control. For example, the method has been used for semi-active suspensions [3], automatic transmissions [4], hydroelectric power plants [5], and multi input multi output (MIMO) nonlinear systems [6].…”

Section: Introductionmentioning

confidence: 99%

Stability Improvement of Model-Free Control Based on a Virtual Structure Against the Resonance of a Proof-Mass Actuator

Sato

Yonezawa

et al. 2022

J. Vib. Eng. Technol.

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Purpose This study improves the robustness of the model-free controller based on a virtual structure. Additionally, the adverse interference between the proof-mass actuator resonance and a controlled object is investigated as it is not clarified in the previous studies. Methods and Results A virtual structure modeled as a SDOF system was inserted between the actuator and the actual controlled object. This achieved the indirect damping of the actual controlled object and model-free control. Vibration control simulations were conducted for various finite element models with a model-free $${H}_{\infty }$$ H ∞ controller based on a virtual structure. The results demonstrate that the actuator resonance adversely affects the stability of the control system when the controlled object has a mode whose natural frequency is too close to that of the actuator. Therefore, a notch filter was applied to the model-free $${H}_{\infty }$$ H ∞ controller design approach to suppress the resonance without affecting the damping performance. The improved controller with notch filter is more robust to the resonance of the actuator than the previous one. Conclusions The resonance of the proof-mass actuator adversely affects the stability of the control system composed of the previous model-free $${H}_{\infty }$$ H ∞ controller when the low-order vibration mode of the actual controlled object is too close to the natural frequency of the actuator. Introducing a notch filter into the model-free approach based on a virtual structure effectively reduces the negative impact due to the resonance of the actuator and improves the robustness of the control system.

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Data-driven optimal model-free control of twin rotor aerodynamic systems

Cited by 9 publications

References 35 publications

Virtual Reference Feedback Tuning of MIMO Data-Driven Model-Free Adaptive Control Algorithms

Virtual Reference Feedback Tuning of MIMO Data-Driven Model-Free Adaptive Control Algorithms

Model-Free Sliding Mode Control for a Nonlinear Teleoperation System with Actuator Dynamics

Stability Improvement of Model-Free Control Based on a Virtual Structure Against the Resonance of a Proof-Mass Actuator

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