相关论文: Model-free control for machine tools

The design of control engineering applications usually requires a model that accurately represents the dynamics of the real system. In addition to classical physical modeling, powerful data-driven approaches are increasingly used. However,…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

Model Predictive Path Integral (MPPI) control is a type of sampling-based model predictive control that simulates thousands of trajectories and uses these trajectories to synthesize optimal controls on-the-fly. In practice, however, MPPI…

Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…

It is well-known that the classical PID controller is by far the most widely used ones in industrial processes, despite of the remarkable progresses of the modern control theory over the past half a century. It is also true that the…

This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to…

Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…

Model Predictive Path Integral (MPPI) control is a powerful sampling-based strategy for nonlinear autonomous systems. However, its performance is often bottlenecked by the fidelity of nominal dynamics. We propose ICODE-MPPI, a robust…

The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only…

This paper presents a new predictive second order sliding controller (PSSC) formulation for setpoint tracking of constrained linear systems. The PSSC scheme is developed by combining the concepts of model predictive control (MPC) and second…

As recent trends in manufacturing engineering disciplines show a clear development in the sustainable as well as economically efficient design of forming processes, monitoring techniques have been gaining in relevance. In terms of…

This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…

Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

This paper presents a set of robust PI tuning formulae for a first order plus dead time process using particle swarm optimization. Also, tuning formulae for an integrating process with dead time, which is a special case of a first order…

The problem of modeling and control of multi-terminal high-voltage direct-current transmission systems is addressed in this paper, which contains five main contributions. First, to propose a unified, physically motivated, modeling framework…

In this paper, we tackle the problem of pushing piles of small objects into a desired target set using visual feedback. Unlike conventional single-object manipulation pipelines, which estimate the state of the system parametrized by pose,…