相关论文: Model-free control for machine tools

We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…

Data-driven control offers a viable option for control scenarios where constructing a system model is expensive or time-consuming. Nonetheless, many of these algorithms are not entirely automated, often necessitating the adjustment of…

The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…

This paper discusses nonlinear proportional-integral (PI) current control with anti-windup of reluctance synchronous machines (RSMs) for which the flux linkage maps are known. The nonlinear controller design is based on the tuning rule…

Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…

Model predictive control (MPC) is pervasive in research and industry. However, designing the cost function and the constraints of the MPC to maximize closed-loop performance remains an open problem. To achieve optimal tuning, we propose a…

Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control…

We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…

An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental…

Proportional-Integral-Derivative (PID) control has been the workhorse of control technology for about a century. Yet to this day, designing and tuning PID controllers relies mostly on either tabulated rules (Ziegler-Nichols) or on classical…

We revisit closed-loop performance guarantees for Model Predictive Control in the deterministic and stochastic cases, which extend to novel performance results applicable to receding horizon control of Partially Observable Markov Decision…

In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…

The comparative study of Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers applied to level and flow control in coupled tank systems is presented in this research work. The coupled tank system, characterized…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…

Many techniques have been developed for the loop-shaping method in control design. While most loop-shaping methods apply a model of the open-loop controlled plant, the resulting performance depends on the accuracy of the dynamical model.…

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…