Data-Driven Model-Free Controllers

Cover
Half Title
Title Page
Copyright Page
Table of Contents
Authors
Chapter 1 Introduction
	1.1 The Motivation of Data-Driven Model-Free Control
	1.2 A Concise Overview of the Main Data-Driven MFC Techniques
	1.3 Dynamic Systems Used in Implementations
		1.3.1 Tower Crane System
		1.3.2 Nonholonomic Autonomous Ground Rover
		1.3.3 Underactuated Autonomous Quadrotor
	1.4 Concluding Remarks
	References
Chapter 2 Iterative Feedback Tuning
	2.1 Background
	2.2 Theory and Algorithm in the SISO Case
	2.3 Theory and Algorithm in the MIMO Case
	2.4 Example and Application
		2.4.1 SISO Control Systems
		2.4.2 MIMO Control System
	References
Chapter 3 Intelligent PID Controllers
	3.1 Introduction
	3.2 Theory of Intelligent PID Controllers for Continuous-Time Dynamic Systems
		3.2.1 Structure of iPID Controllers for Continuous-Time Dynamic Systems
		3.2.2 Iterated Time Integrals for Online Parameter Estimations
		3.2.3 Adaptive Observers for Online Parameter Estimations
		3.2.4 Adaptive Model-Based Parameter Estimators
	3.3 Theory of Intelligent PID Controllers for Discrete-Time Dynamic Systems
		3.3.1 First-Order Discrete-Time iP/iPi/iPID Controllers
			3.3.1.1 The First-Order Discrete-Time iP Controller
			3.3.1.2 The First-Order Discrete-Time iPI Controller
			3.3.1.3 The First-Order Discrete-Time iPID Controller
		3.3.2 Second-Order Discrete-Time iP/iPi/iPID Controllers
			3.3.2.1 The Second-Order Discrete-Time iP Controller
			3.3.2.2 The Second-Order Discrete-Time iPI Controller
			3.3.2.3 The Second-Order Discrete-Time iPID Controller
	3.4 Example and Application
		3.4.1 SISO Control Systems
			3.4.1.1 The First-Order Discrete-Time iP Controllers
			3.4.1.2 The First-Order Discrete-Time iPI Controllers
			3.4.1.3 The First-Order Discrete-Time iPID Controllers
			3.4.1.4 The Second-Order Discrete-Time iP Controllers
			3.4.1.5 The Second-Order Discrete-Time iPI Controllers
			3.4.1.6 The Second-Order Discrete-Time iPID Controllers
		3.4.2 MIMO Control Systems
			3.4.2.1 The First-Order Discrete-Time iP Controllers
			3.4.2.2 The First-Order Discrete-Time iPI Controllers
			3.4.2.3 The First-Order Discrete-Time iPID Controllers
			3.4.2.4 The Second-Order Discrete-Time iP Controllers
			3.4.2.5 The Second-Order Discrete-Time iPI Controllers
			3.4.2.6 The Second-Order Discrete-Time iPID Controllers
			3.4.2.7 Simulation and Experimental Results for the iPID Controller with the Adaptive Model-Based Parameter Estimator
	References
Chapter 4 Model-Free Sliding Mode Controllers
	4.1 Introduction
	4.2 Theory
		4.2.1 The Hybrid Model-Free Sliding Mode Controllers
		4.2.2 The First Hybrid Model-Free Sliding Mode Controller
		4.2.3 The Second Hybrid Model-Free Sliding Mode Controller
	4.3 Example and Application
		4.3.1 SISO Control Systems
			4.3.1.1 The First Hybrid Model-Free Sliding Mode Controller
			4.3.1.2 The Second Hybrid Model-Free Sliding Mode Controller
		4.3.2 MIMO Control Systems
			4.3.2.1 The First Hybrid Model-Free Sliding Mode Controller
			4.3.2.2 The Second Hybrid Model-Free Sliding Mode Controller
	References
Chapter 5 Model-Free Adaptive Controllers
	5.1 Introduction
	5.2 Theory
		5.2.1 The MFAC Algorithm for Discrete-Time Dynamic Systems
			5.2.1.1 The MFAC-CFDL Algorithms
			5.2.1.2 The MFAC-PFDL Algorithms
		5.2.2 The Generic Structure of Single-Integrator and Double-Integrator Completely Unknown Nonlinear Dynamic Systems
		5.2.3 Model-Free Adaptive Controller Algorithm for Continuous-Time Dynamic Systems
	5.3 Example and Application
		5.3.1 SISO Control Systems
			5.3.1.1 The MFAC-CFDL Algorithms
			5.3.1.2 The MFAC-PFDL Algorithms
		5.3.2 MIMO Control Systems
			5.3.2.1 The MFAC-CFDL Algorithms Using Three SISO Loops Running in Parallel
			5.3.2.2 The MFAC-CFDL Algorithms Using a Single Loop
			5.3.2.3 The MFAC-PFDL Algorithms Using Three SISO Loops Running in Parallel
			5.3.2.4 Simulation and Experimental Results for the Continuous-Time MFAC Algorithm
	References
Chapter 6 Hybrid Model-Free and Model-Free Adaptive Virtual Reference Feedback Tuning Controllers
	6.1 Introduction
	6.2 Theory
		6.2.1 The VRFT Technique
		6.2.2 The First-Order Discrete-Time Model-Free Control-VRFT Controllers
		6.2.3 The Second-Order Discrete-Time Model-Free Control-VRFT Controllers
		6.2.4 The MFAC-VRFT Algorithms
	6.3 Example and Application
		6.3.1 SISO Control Systems
			6.3.1.1 The Discrete-Time First-Order MFC-VRFT Controller with P Component
			6.3.1.2 The Discrete-Time Second-Order MFC-VRFT Controller with P Component
			6.3.1.3 The MFAC-VRFT Algorithms in Compact-Form Dynamic Linearization Version
		6.3.2 MIMO Control Systems
			6.3.2.1 The Discrete-Time First-Order MFC-VRFT Controller with P Component
			6.3.2.2 The Discrete-Time Second-Order MFC-VRFT Controller with P Component
			6.3.2.3 The MFAC-VRFT Algorithms in Compact-Form Dynamic Linearization Version
	References
Chapter 7 Hybrid Model-Free and Model-Free Adaptive Fuzzy Controllers
	7.1 A Short Overview of Fuzzy Logic and Control
		7.1.1 Fuzzy Sets, Set-Theoretic Operators, Fuzzy Relations
		7.1.2 Information Processing in Fuzzy Controllers
			7.1.2.1 The Fuzzification Module
			7.1.2.2 The Inference Module
			7.1.2.3 The Defuzzification Module
		7.1.3 Fuzzy Controllers and Design Approaches
			7.1.3.1 Fuzzy Controllers without Dynamics
			7.1.3.2 Fuzzy Controllers with Dynamics
	7.2 Hybrid Model-Free Fuzzy Controllers
		7.2.1 First-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
		7.2.2 Second-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
	7.3 Hybrid Model-Free Adaptive Fuzzy Controllers
	7.4 Example and Application
		7.4.1 SISO Control Systems
			7.4.1.1 The First-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
			7.4.1.2 The Second-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
			7.4.1.3 The Hybrid Model-Free Adaptive Fuzzy Controllers
		7.4.2 MIMO Control Systems
			7.4.2.1 The First-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
			7.4.2.2 The Second-Order Discrete-Time iPI Controllers with Takagi-Sugeno-Kang PD Fuzzy Terms
			7.4.2.3 The Hybrid Model-Free Adaptive Fuzzy Controllers
	References
Chapter 8 Cooperative Model-Free Adaptive Controllers for Multiagent Systems
	8.1 Introduction
	8.2 Theory
		8.2.1 The Generic Structure of a Nonlinear Multiagent Dynamic System
		8.2.2 Cooperative Model-Free Adaptive Controller Without Relative State Measurements
		8.2.3 Cooperative Model-Free Adaptive Controller with Relative State Measurements
		8.2.4 Operating Principles of the Cooperative Model-Free Adaptive Controllers
	8.3 Simulation Results
		8.3.1 Simulation of CAMFC-1 Algorithm
		8.3.2 Simulation of CAMFC-2 Algorithm
	References
Appendix: Simulation Results for Implementation of Model-Free Adaptive Controller on a Differential-Drive Ground Mobile Robot
Index