Related papers: Deux am\'eliorations concurrentes des PID
Model-Free Control (MFC), which is easy to implement both from software and hardware viewpoints, permits the introduction of a high level control synthesis for the Industrial Internet of Things (IIoT) and the Industry 4.0. The choice of the…
Practical implementations of active disturbance rejection control (ADRC) will almost always take place in discretized form. Since applications may have quite different needs regarding their discrete-time controllers, this article summarizes…
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…
This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a class of exogenous disturbances. While PID control cannot be…
The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this paper, first, computed torque model is generated to…
This correspondence proposes a kind of model-free adaptive control (MFAC) on the basis of full-form equivalent-dynamic-linearization model (EDLM) for the multivariable nonlinear system. Compared with the current MFAC, i) this control law…
In this study, we compare a model reference control (MRC) strategy against conventional PID controllers (tuned via metaheuristic algorithms) for surge velocity control of a thruster-driven marine system, under combined wave disturbance and…
This paper presents a parameter formula connecting the well-known proportional-integralderivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the…
To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a…
The basic active disturbance rejection control (BADRC) algorithm with only one order higher extended state observer (ESO) proves to be robust to both internal and external disturbances. An advantage of BADRC is that in many applications it…
Defense against cyberattacks is an emerging topic related to fault-tolerant control. In order to avoid difficult mathematical modeling, model-free control (MFC) is suggested as an alternative to classical control. For illustration purpose a…
This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal…
A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…
This paper evaluates and compares the performance of model-free and model-based reinforcement learning for the attitude control of fixed-wing unmanned aerial vehicles using PID as a reference point. The comparison focuses on their ability…
In this paper, we restudy how to modify the model-free adaptive control (MFAC) to reject the disturbance both in single-input single-output (SISO) systems and multiple-input multiple-output (MIMO) systems, with the aim to pave the way for…
Model predictive control (MPC) has become one of the well-established modern control methods for three-phase inverters with an output LC filter, where a high-quality voltage with low total harmonic distortion (THD) is needed. Although it is…
To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While…
Model Predictive Control (MPC) for tracking formulation presents numerous advantages compared to standard MPC, such as a larger domain of attraction and recursive feasibility even when abrupt changes in the reference are produced. As a…
Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…
Two popular approaches to model-free continuous control tasks are SAC and TD3. At first glance these approaches seem rather different; SAC aims to solve the entropy-augmented MDP by minimising the KL-divergence between a stochastic proposal…