Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems

This paper deals with a new Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems whose structure is simple and dose not depend on any physical model. The proposed controller is based on the theory of a particular class of hybrid systems, called Piecewise Continuous Systems, which are characterized by autonomous switchings and controlled impulses. The effectiveness and robustness of the proposed controller is experimented on a three tank system.

[1]  Siep Weiland,et al.  Model-free norm-based fixed structure controller synthesis , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[2]  Christian Vasseur,et al.  Control of linear systems using piecewise continuous systems , 2003 .

[3]  Naeem Iqbal,et al.  Control of a nonlinear coupled three tank system using feedback linearization , 2009, 2009 Third International Conference on Electrical Engineering.

[4]  Cédric Join,et al.  Complex continuous nonlinear systems: Their black box identification and their control , 2006 .

[5]  Haoping Wang,et al.  Observation et commande par systèmes à fonctionnement par morceaux : application aux asservissements visuels , 2008 .

[6]  Cédric Join,et al.  Vers une commande multivariable sans modèle , 2006, ArXiv.

[7]  Cédric Join,et al.  Model-Free Control of Shape Memory Alloys Antagonistic Actuators , 2008 .

[8]  Haoping Wang,et al.  Stabilization of a 2-DOF inverted pendulum by a low cost visual feedback , 2008, 2008 American Control Conference.

[9]  Christian Vasseur,et al.  Piecewise Continuous Systems Used in Trajectory Tracking of a Vision Based X-Y Robot , 2008 .

[10]  V. Borkar,et al.  A unified framework for hybrid control , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[11]  Yang Huping,et al.  Active-disturbance rejection control and its application to solar PV DC-DC converter , 2010, 2010 3rd International Conference on Advanced Computer Theory and Engineering(ICACTE).

[12]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[13]  Dong Sun,et al.  Comments on Active Disturbance Rejection Control , 2007, IEEE Trans. Ind. Electron..

[14]  M. Ksouri,et al.  MIMO robust predictive control applied to a three tanks system , 2008, 2008 16th Mediterranean Conference on Control and Automation.

[15]  Haoping Wang,et al.  Hybrid control for vision based Cart-Inverted Pendulum system , 2008, 2008 American Control Conference.

[16]  A. Isidori.  Nonlinear Control Systems , 1985 .

[17]  Karl Johan Åström,et al.  PID Controllers: Theory, Design, and Tuning , 1995 .

[18]  Hong Chen,et al.  Application of networked packet dropout compensation scheme in three tank system , 2008, 2008 7th World Congress on Intelligent Control and Automation.

[19]  R. Stephenson.  A and V , 1962, The British journal of ophthalmology.

[20]  Zhiqiang Gao,et al.  Active disturbance rejection control: a paradigm shift in feedback control system design , 2006, 2006 American Control Conference.

[21]  A. Chamroo,et al.  Sampled tracking for delayed systems using piecewise functioning controller , 2006, The Proceedings of the Multiconference on "Computational Engineering in Systems Applications".