Design of discrete-time adaptive PID controllers for a class of linear integrator systems

Diene, Oumar; Bhaya, Amit

doi:10.3182/20110828-6-it-1002.03370

Cited by 2 publications

(1 citation statement)

References 19 publications

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“…However, as the parameters of the controlled system change, the parameters of the PID controller should also be readjusted, and the adjustment of control parameters is more dependent on engineering experience. In addition, the PID method is more commonly applied to linear systems [ 18 ]. It is not suitable for the Haidou-1 ARV control system, which has high nonlinearity, time-varying, and structural changes.…”

Section: Introductionmentioning

confidence: 99%

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Li,

Tang,

Zhao

et al. 2024

Sensors

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We propose a data-driven, model-free adaptive sliding mode control (MFASMC) approach to address the Haidou-1 ARV under-actuated motion control problem with uncertainties, including external disturbances and parameter perturbations. Firstly, we analyzed the two main difficulties in the motion control of Haidou-1 ARV. Secondly, in order to address these problems, a MFASMC control method was introduced. It is combined by a model-free adaptive control (MFAC) method and a sliding mode control (SMC) method. The main advantage of the MFAC method is that it relies only on the real-time measurement data of an ARV instead of any mathematical modeling information, and the SMC method guarantees the MFAC method’s fast convergence and low overshooting. The proposed MFASMC control method can maneuver Haidou-1 ARV cruising at the desired forward speed, heading, and depth, even when the dynamic parameters of the ARV vary widely and external disturbances exist. It also addresses the problem of under-actuated motion control for the Haidou-1 ARV. Finally, the simulation results, including comparisons with a PID method and the MFAC method, demonstrate the effectiveness of our proposed method.

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Section: Introductionmentioning

confidence: 99%

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Li,

Tang,

Zhao

et al. 2024

Sensors

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On the robustness of numerical algorithms for linear systems and signal processing in finite precision arithmetic

Diene

Bhaya

2015

Adaptive Control & Signal

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SummaryThis paper proposes a model of the perturbations resulting from finite precision arithmetic implementation of numerical methods. Iterative methods for linear systems are represented as control systems, and the numerical errors caused by finite precision are represented as a multiplicative uncertainty. This representation makes it possible to use results from robust control theory to provide stability criteria, which, in turn, imply convergence, under finite precision arithmetic, of algorithms considered. Numerical examples are taken from several fields in order to illustrate the theoretical results. Copyright © 2015 John Wiley & Sons, Ltd.

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Design of discrete-time adaptive PID controllers for a class of linear integrator systems

Cited by 2 publications

References 19 publications

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

On the robustness of numerical algorithms for linear systems and signal processing in finite precision arithmetic

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