Model-free Adaptive Control Method Research Articles

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

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.

Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control

The timely intervention of the assisted driving system is the key to improving the handling stability and roll stability of the vehicle, and the vehicle stability region serves as the core basis for determining the intervention timing of the assisted driving system. With the aim of modeling and analyzing the vehicle stability region, a three-degree-of-freedom (3-DOF) vehicle dynamics model including yaw, roll, and lateral motions, as well as a nonlinear Magic Formula tire model are established in this paper. Based on this, a simplified but improved cubic tire model is developed to accurately fit the tire lateral force of Magic Formula tire model within a larger range of slip angles. Subsequently, using the Lyapunov method, the roll stability region and the yaw stability region are respectively constructed, and the accuracy verification and robustness analysis of the established stability region are conducted in the Matlab/Simulink environment. Finally, a model-free adaptive control method is employed to keep the vehicle state within the stability region, without tracking specific vehicle state objectives. The study in this paper can provide theoretical support for stability boundary determination, formulation of intervention timing for assisted driving stability control, and coordination control of vehicle stability and anti-rollover with local compatibility or even conflicts.

Research on improved partial format MFAC greenhouse temperature control method based on low energy consumption optimization

Temperature is critical to the growth of crops in agricultural greenhouses. Thus, designing a greenhouse temperature controller that maximizes energy savings while maintaining control accuracy is very important. This paper proposes an improved partial format model-free adaptive control method and designs a greenhouse temperature controller based on this method to balance control accuracy and energy consumption. Firstly, a limited energy consumption term is added to the control input cost function of the traditional partial format model-free adaptive control to penalize excessive control input. We derive an improved partial format model-free adaptive control input algorithm and design a greenhouse temperature controller using this algorithm. Then, the controller's sensitive parameters are selected using a Monte Carlo-based parameter sensitivity method. Finally, the whale optimization algorithm is used to optimize the sensitive parameters. The insensitive parameters are set according to experience. This paper, a theoretical study based on simulated experiments, proves the convergent tracking error of the proposed improved partial format model-free adaptive algorithm. Simulation results show that the improved controller minimizes energy consumption while ensuring control accuracy, reducing power consumption by 12.35 % compared to the traditional controller.

Iterative learning–based model-free adaptive precise heading following of an autonomous underwater vehicle with unknown disturbances

Due to the nonlinearity, strong coupling, and uncertain parameters of autonomous underwater vehicle (AUV), it is difficult to build an accurate dynamic model, which makes precise control of AUV extremely challenging. To handle the precise heading-following problem of AUV, this paper proposes an iterative learning-based redefine model-free adaptive heading control (IL-RMFAC) method for the underactuated AUV with unknown disturbances based on data driven. The control scheme consists of a learning control algorithm, a parameter iterative update algorithm, and a parameter reset algorithm. It is designed using only the input and output (I/O) data of the controlled system and is a data-driven control method. The pseudo partial derivative (PPD) can be iteratively calculated through the parameter iterative update algorithm and reset algorithm to adjust the learning gain, solving the problem of strictly limited initial position of the traditional fixed learning gain iterative learning control (ILC). A linear combination of angle and angular velocity is introduced in the kinematic layer to avoid overshooting of the expected following target, and an iterative learning method is introduced in the dynamics to improve the accuracy. As the number of iterations increases, the steady-state error is gradually decreased. Finally, by comparing traditional proportional–integral–derivative (PID) simulations, the proposed algorithm’s effectiveness and outstanding performance for the AUV heading tracking are confirmed.

Optimal Output Tracking for Switched Systems Under DoS Attacks: A Model-Free Adaptive Predictive Control Method

Optimal Output Tracking for Switched Systems Under DoS Attacks: A Model-Free Adaptive Predictive Control Method

Data-Driven-Based Cooperative Resilient Learning Method for Nonlinear MASs Under DoS Attacks.

In this article, we consider the cooperative tracking problem for a class of nonlinear multiagent systems (MASs) with unknown dynamics under denial-of-service (DoS) attacks. To solve such a problem, a hierarchical cooperative resilient learning method, which involves a distributed resilient observer and a decentralized learning controller, is introduced in this article. Due to the existence of communication layers in the hierarchical control architecture, it may lead to communication delays and DoS attacks. Motivated by this consideration, a resilient model-free adaptive control (MFAC) method is developed to withstand the influence of communication delays and DoS attacks. First, a virtual reference signal is designed for each agent to estimate the time-varying reference signal under DoS attacks. To facilitate the tracking of each agent, the virtual reference signal is discretized. Then, a decentralized MFAC algorithm is designed for each agent such that each agent can track the reference signal by only using the obtained local information. Finally, a simulation example is proposed to verify the effectiveness of the developed method.

A Novel Model-Free Adaptive Proportional–Integral–Derivative Control Method for Speed-Tracking Systems of Electric Balanced Forklifts

Similar to many complex systems, the operation process of electric balanced forklifts has characteristics such as time-varying model parameters and nonlinearity. Establishing an accurate mathematical model becomes challenging, making it difficult to apply model-based control methods in engineering practice. Aiming at the longitudinal control system of electric forklifts containing external disturbances, this paper proposes an improved full-format dynamic linearization model-free adaptive PID control (iFFDL-MFA-PID) method. Firstly, the full-format dynamic linearization (FFDL) method is employed to transform the operating system of the electric balanced forklift into a virtual equivalent linear data model. Secondly, the nonlinear residual term and pseudo-gradient (PG) of the data model are estimated using the difference estimation algorithm and the optimal criterion function, respectively. Furthermore, in order to enhance the robustness of the system, the idea of intelligent PID (iPID) is introduced and the principle of equivalent feedback is utilized to derive the iFFDL-MFA-PID control scheme. The design process of this scheme only requires the use of the input and output data of the system, without relying on the mathematical model of the system. Finally, the iFFDL-MFA-PID method proposed in this paper is simulated and tested with the EFG-BC/320 counterbalanced forklift equipped in the Special Equipment Testing Center and compared with the model-free adaptive control method (FFDL-MFAC) and the PID control method. Simulation results show that the speed-tracking error of the electric forklift truck under the action of the iFFDL-MFA-PID algorithm is maintained within ±0.132 m/s throughout the process, achieving higher tracking accuracy and better robustness compared to the MFAC and PID methods.

Model-free adaptive chaos control for the boost converter

In order to solve the dynamic analysis and chaotic motion control problems of the current-mode-controlled Boost converter system, a state equation model in the continuous current mode is established. The evolutionary path of the periodic motion of the system through the doubling bifurcation to the chaotic motion is analyzed by the bifurcation diagram, Poincaré sections and phase portraits. Then, according to the fundamental principle of the resonant parametric perturbation (RPP) method, a controller is designed based on the model-free adaptive control (MFAC) method to output the perturbation amplitude, and the disturbance quantity is calculated according to the perturbation amplitude. By adding a small amplitude disturbance to the controllable parameter of the controlled system, the chaotic motion of the system is guided to expected periodic orbit. The advantage of this method is that no precise mathematical model (PMM) of the system is required. At the same time, the design of the controller is simple and easy to implement.

Robust adaptive path following control of autonomous underwater vehicle with uncertainties and communication bandwidth limitation

This article investigates the path-following control problem for autonomous underwater vehicles (AUVs) subject to external disturbances and unknown model parameters. An event-triggered model-free adaptive control (ETMFAC) method is designed with a practical experimental platform. Firstly, a line-of-sight (LOS) guidance law is employed to obtain the desired heading angle for the AUV. Secondly, an improved model-free adaptive control method is used, in which an adaptive law is introduced to compensate for the effects caused by external disturbances. Subsequently, an event-triggering mechanism that can reduce the communication and calculation burden of the control system is proposed. As for the state mutation caused by variable disturbances, an adaptive triggering threshold is designed based on the state vector of the AUV to maintain satisfactory following performance. The stability of the control system is proved by theoretical analysis. Finally, both numerical simulations and practical experiments are conducted to evaluate the efficacy and prove the superiority of the proposed method.

An improved compact-form antisaturation model-free adaptive control algorithm for a class of nonlinear systems with time delays.

To solve the time-delay problem and actuator saturation problem of nonlinear plants in industrial processes, an improved compact-form antisaturation model-free adaptive control (ICF-AS-MFAC) method is proposed in this work. The ICF-AS-MFAC scheme is based on the concept of the pseudo partial derivative (PPD) and adopts equivalent dynamic linearization technology. Then, a tracking differentiator is used to predict the future output of a time-delay system to effectively control the system. Additionally, the concept of the saturation parameter is proposed, and the ICF-AS-MFAC controller is designed to ensure that the control system will not exhibit actuator saturation. The proposed algorithm is more flexible, has faster output responses for time-delay systems, and solves the problem of actuator saturation. The convergence and stability of the proposed method are rigorously proven mathematically. The effectiveness of the proposed method is verified by numerical simulations, and the applicability of the proposed method is verified by a series of experimental results based on double tanks.

Model-free adaptive control of average coolant temperature in a novel marine small lead–bismuth-cooled reactor

Marine lead–bismuth-cooled nuclear reactors are sensitive to the marine environment, facing motion-induced changes like heeling and rolling. These changes induce heavy oscillatory processes, and general controllers cannot totally meet the power output requirements from reactors. To address these challenges, this paper proposes a model-free adaptive control (MFAC) method. Initially, an initial model is established based on mechanism analysis, incorporating neutron kinetics, fuel thermal dynamics, and core thermal dynamics of the reactor while considering a dynamic marine environment. Subsequently, a model-free adaptive controller with online identification and adaptive capability is designed, employing a projection algorithm to continuously identify initial model parameters to match the harsh marine condition and correct the control law based on the input and output data. Finally, through simulation experiments, the effectiveness of the MFAC controller is demonstrated, showcasing superior adaptive capabilities and robustness, enabling rapid and precise tracking of the desired setpoint for average coolant temperature, even under fluctuating marine conditions.

Layered and subregional control strategy based on model-free adaptive iterative learning for laser additive manufacturing process

Improving stability in process and the quality of manufactured parts is critical to laser additive manufacturing (LAM). Developing appropriate control methods is essential for this purpose. Layered control approaches are commonly utilized in current research on LAM process control, with a primary focus on the pattern of layer-by-layer deposition. However, these strategies might neglect the dynamic and evolving characteristics of the process along the scanning direction. Due to the complex nature of the LAM process, such layered control approaches could be inadequate in addressing intra-layer instability, potentially resulting in metallurgical defects. To overcome these limitations, we propose a layered-and-subregional model-free adaptive iterative learning control (LS-MFAILC) method. Considering the cyclic and the layer-by-layer processing principle of LAM, we develop a subregional control strategy and integrate it with a layered control framework. In addition, the model-free adaptive iterative learning control (MFAILC) algorithm is utilized as the controller due to its ability to control complex and time-varying systems with repetitive running characteristics. In the proposed method, each target layer to be printed in process is divided into multiple non-overlapping regions along the scanning direction, and the process parameters for each region are adaptively controlled based on historical information acquired from previous layers during the process. The temperature information of the melt pool is captured and extracted using a thermal imager integrated with the printing system. Experimental results and comparison with the layered control approach demonstrate the effectiveness and superiority of our method.

An Improved Model-Free Adaptive Nonlinear Control and Its Automatic Application

In order to enhance the performance of model-free adaptive control (MFAC) in solving the control problem caused by interference and improve the tracking speed, this paper focuses on the analysis and research of the system affected by interference using the MFAC method. This method is based on dynamic linearization technology, with system data which are represented by a full format dynamic linearization (FFDL) model that is very similar to actual industrial processes. In this work, a control law is derived by incorporating and assigning weights to both the output error and the output error rate (OER) as the performance index. Rigorous proofs are provided to establish convergence and stability. Considering the inherent complexity of actual systems, this paper also presents the MFAC-OER scheme for multiple-input–multiple-output (MIMO) systems. Furthermore, the effectiveness and practicality of the improved control strategy are evaluated through numerical arithmetic examples and control processes involving water level regulation in a circulating fluidized bed (CFB). Comparisons with conventional MFAC and PID control methods show that the enhanced control method is capable of quickly and accurately tracking the desired signal. Additionally, it exhibits superior anti-interference characteristics and is able to respond in a timely manner to changes in the operating conditions of the circulating fluidized bed system. As a result, it ensures the normal operation of the coal saver and water supply pipe without damage.

Model-Free Adaptive Disturbance Rejection Control of An RSV With Hardware-in-The-Loop Experiments

This paper reports a model-free adaptive disturbance rejection control method for the surge velocity tracking of a robotic surface vehicle (RSV) in the presence of unknown external disturbances, internal dynamics, and control coefficient. Specifically, reduced-order and full-order filtering adaptive extended state observers (FAESOs) are proposed at first, for estimating the unknown control coefficient, and the lumped disturbance consisting of the unknown external disturbances and internal dynamics, simultaneously. Based on the FAESO, a model-free adaptive disturbance rejection surge velocity tracking control law is derived. A key advantage of the proposed method is that it results in uniform control performance within large variation range of control coefficient regardless of the fully unknown model. The efficacy of the developed model-free adaptive disturbance rejection control method for the surge velocity tracking of RSV is substantiated by comparing simulations and hardware-in-the-loop experiments.

An Improved Method of Model-Free Adaptive Predictive Control: A Case of pH Neutralization in WWTP

pH neutralization reaction process plays a crucial role in Waste Water Treatment Process (WWTP). Traditional PID Proportion Integral Differential, (or even advanced PID control) algorithms have poor performance on WWTP due to the strong non-linearity, large time lag, and large inertia characteristics of pH neutralization. Therefore, finding a superior control method to maintain the pH value of wastewater within the normal range will greatly help to improve the efficiency and effectiveness of wastewater treatment. The chemical reaction mechanism of pH neutralization reaction process is first analyzed, and a mechanistic model of pH neutralization reaction process is developed based on the reaction of ions during acid-alkali neutralization and the electric balance equation. Then, combining the characteristics of generalized predictive control and Model-Free Adaptive Control (MFAC), a Model-Free Adaptive Predictive Control (MFAPC) method based on compact format dynamic linearization is introduced. An Improved Model Free Adaptive PI Predictive Control algorithm (IMFAPC) with proportional (P) and integral (I) algorithms is proposed to further improve the control performance. IMFAPC is proposed on the basis of MFAPC, combining the advantages of generalized predictive control, introducing a PI module consisting of error and error sum, and predicting the PI module, making it possible to produce more accurate constraints on the control inputs, avoiding increasing errors, and improving the control effect of delayed systems at the same time. pH neutralization process simulation experimental results show that compared with the ordinary Model-Free Adaptive Control (MFAC) and MFAPC, the IMFAPC control algorithms has the best performance in terms of accuracy, overshoot, and the robustness.

Resilient Coordinated Data-Driven Control of Multiple High-Speed Trains Under Fading Measurements and Denial-of-Service Attacks

The paper investigates the resilient coordinated model free adaptive control (MFAC) problem of multiple high-speed trains (MHSTs) subject to fading measurements and denial-of-service (DoS) attacks, which belongs to a data-driven approach. Firstly, the dynamic model of MHSTs with unknown nonlinear dynamics is linearized into a data-dependent one. Secondly, the faded channels are formulated by the Rice fading model with known statistical property, and the attack strategies are assumed to obey the Bernoulli distributions. Then, the distributed MFAC method is proposed for MHSTs with fixed topology, and the analysis is carried out by using the graph theory. Furthermore, the research is extended to the design of the compensation scheme for fading data and to the MHSTs with time-varying topologies. Finally, the effectiveness of the data-driven controller is studied by a numerical simulation.

Distributed Model-Free Adaptive Control for MIMO Nonlinear Multiagent Systems Under Deception Attacks

The consensus tracking and containment control problems of multiple-input and multiple-output (MIMO) nonaffine nonlinear multiagent systems (MASs) are studied in this article under deception attacks using the distributed model-free adaptive control (DMFAC) method. An equivalent dynamic linearized data model of MIMO MASs’s distributed output vector containing deception signals is established using dynamic linearization technology. Then, a fully data-driven DMFAC strategy is designed just using I/O information instead of the knowledge of mathematical model. Furthermore, the boundedness of distributed output vector of MIMO-MASs under deception attacks is proved through the contraction mapping principle without employing global topology graph information. Finally, the validity of the proposed DMFAC scheme is verified through detailed simulations.

Model-free adaptive robust control method for high-speed trains

Abstract Aiming at the robustness issue in high-speed trains (HSTs) operation control, this article proposes a model-free adaptive control (MFAC) scheme to suppress disturbance. Firstly, the dynamic linearization data model of train system under the action of measurement disturbance is given, and the Kalman filter (KF) based on this model is derived under the minimum variance estimation criterion. Then, according to the KF, an anti-interference MFAC scheme is designed. This scheme only needs the input and output data of the controlled system to realize the MFAC of the train under strong disturbance. Finally, the simulation experiment of CRH380A HSTs is carried out and compared with the traditional MFAC and the MFAC with attenuation factor. The proposed control algorithm can effectively suppress the measurement disturbance, and obtain smaller tracking error and larger signal to noise ratio with better applicability.

Improved High Order Model-Free Adaptive Iterative Learning Control with Disturbance Compensation and Enhanced Convergence

In this paper, an improved high-order model-free adaptive iterative control (IHOMFAILC) method for a class of nonlinear discrete-time systems is proposed based on the compact format dynamic linearization method. This method adds the differential of tracking error in the criteria function to compensate for the effect of the random disturbance. Meanwhile, a high-order estimation algorithm is used to estimate the value of pseudo partial derivative (PPD), that is, the current value of PPD is updated by that of previous iterations. Thus the rapid convergence of the maximum tracking error is not limited by the initial value of PPD. The convergence of the maximum tracking error is deduced in detail. This method can track the desired output with enhanced convergence and improved tracking performance. Two examples are used to verify the convergence and effectiveness of the proposed method.

Mitigating Subsynchronous Oscillation Using Model-Free Adaptive Control of DFIGs

Incorporating subsynchronous damping controllers (SSDCs) into the control loops of doubly-fed induction generators (DFIGs) is one of the most cost-effective methods to suppress subsynchronous oscillation (SSO). However, it is difficult to achieve satisfactory control performance of SSDCs due to the time-varying structure and operating conditions of wind integrated power systems. In this paper, an improved model-free adaptive control (MFAC) method is developed for DFIGs to overcome the limitations of conventional methods for SSO mitigation. First, the structure of the MFAC-based SSDC (M-SSDC) for DFIGs is designed. Then, an improved MFAC predictive control algorithm is proposed to achieve SSO mitigation. Moreover, the stability of the closed-loop system with the proposed M-SSDC is analyzed, which provides some guidelines for determining controller parameters. Additionally, the input-output signal pair of M-SSDC is selected by using geometric measure for the optimum damping performance. Case studies under various operating conditions of the test power system validate the effectiveness of the proposed M-SSDC as well as its superior damping performance over conventional approaches.