The design of accurate model often appears as the most challenging tasks for control engineers especially focusing to the control of nonlinear system with unknown parameters or effects to be identified in parallel. For this reason, development of model-free control methods is of increasing importance. The class of model-free control approaches is defined by the nonuse of any knowledge about the underlying structure and/or related parameters of the dynamical system. Therefore, the major criteria to evaluate model-free control performance are aspects regarding robustness against unknown inputs and disturbances and related achievable tracking performance. In this contribution, a detailed comparison of three different model-free control methods (intelligent proportional-integral-derivative (iPID) using second-order sliding differentiator and two variations of model-free adaptive control (using modified compact form dynamic linearization (CFDL) as well as modified partial form) is given. Using a three-tank system benchmark, the experimental results are validated concerning the performance behavior. The results obtained demonstrate the effectiveness of the methods introduced.

References

References
1.
Dadras
,
S.
,
Momeni
,
H. R.
, and
Dadras
,
S.
,
2009
, “
Adaptive Control for Ship Roll Motion With Fully Unknown Parameters
,”
IEEE International Conference on Control and Automation
(
ICCA
2009), pp.
270
274
.
2.
Fliess
,
M.
,
Join
,
C.
, and
Sira-Ramirez
,
H.
,
2008
, “
Non-Linear Estimation Is Easy
,”
Int. J. Modell., Identif. Control
,
4
(
1
), pp.
12
27
.
3.
Fliess
,
M.
, and
Join
,
C.
,
2013
, “
Model-Free Control
,”
Int. J. Control
,
86
(
12
), pp.
2228
2252
.
4.
Milanés
,
V.
,
Villagrá
,
J.
,
Godoy
,
J.
, and
González
,
C.
,
2012
, “
Comparing Fuzzy and Intelligent Pi Controllers in Stop-and-Go Manoeuvres
,”
IEEE Trans. Control Syst. Technol.
,
20
(
3
), pp.
770
778
.
5.
Agee
,
J. T.
,
Kizir
,
S.
, and
Bingul
,
Z.
,
2015
, “
Intelligent Proportional-Integral (Ipi) Control of a Single Link Flexible Joint Manipulator
,”
J. Vib. Control
,
21
(
11
), pp.
2273
2288
.
6.
Agee
,
J. T.
,
Bingul
,
Z.
, and
Kizir
,
S.
,
2014
, “
Tip Trajectory Control of a Flexible-Link Manipulator Using an Intelligent Proportional Integral (Ipi) Controller
,”
Trans. Inst. Meas. Control
,
36
(
5
), pp.
673
682
.
7.
Fliess
,
M.
, and
Sira-Ramirez
,
H.
,
2008
, “
Closed-Loop Parametric Identification for Continuous-Time Linear Systems Via New Algebraic Techniques
,”
Identification Continuous-Time Models From Sampled Data
, pp.
363
391
.
8.
Box
,
G. E.
,
Jenkins
,
G. M.
,
Reinsel
,
G. C.
, and
Ljung
,
G. M.
,
2015
,
Time Series Analysis: Forecasting and Control
,
Wiley
,
Hoboken, NJ
.
9.
Bu
,
X.
,
Wu
,
X.
,
Zhang
,
R.
,
Ma
,
Z.
, and
Huang
,
J.
,
2015
, “
Tracking Differentiator Design for the Robust Backstepping Control of a Flexible Air-Breathing Hypersonic Vehicle
,”
J. Franklin Inst.
,
352
(
4
), pp.
1739
1765
.
10.
Girin
,
A.
,
Plestan
,
F.
,
Brun
,
X.
, and
Glumineau
,
A.
,
2009
, “
High-Order Sliding-Mode Controllers of an Electropneumatic Actuator: Application to an Aeronautic Benchmark
,”
IEEE Trans. Control Syst. Technol.
,
17
(
3
), pp.
633
645
.
11.
Hou
,
Z.
, and
Huang
,
W.
,
1997
, “
The Model-Free Learning Adaptive Control of a Class of SISO Nonlinear Systems
,”
American Control Conference
, Vol.
1
, pp.
343
344
.
12.
Hou
,
Z.
, and
Jin
,
S.
,
2011
, “
Data-Driven Model-Free Adaptive Control for a Class of MIMO Nonlinear Discrete-Time Systems
,”
IEEE Trans. Neural Networks
,
22
(
12
), pp.
2173
2188
.
13.
Yin
,
S.
,
Li
,
X.
,
Gao
,
H.
, and
Kaynak
,
O.
,
2015
, “
Data-Based Techniques Focused on Modern Industry: An Overview
,”
IEEE Trans. Ind. Electron.
,
62
(
1
), pp.
657
667
.
14.
Wei
,
C.
,
Luo
,
J.
,
Dai
,
H.
, and
Yuan
,
J.
,
2017
, “
Adaptive Model-Free Constrained Control of Postcapture Flexible Spacecraft: A Euler–Lagrange Approach
,”
J. Vib. Control
,
62
, pp. 299–313.
15.
Madadi
,
E.
, and
Söffker
,
D.
,
2016
, “
Towards an Optimal Learning for Robust Iterative-Based Intelligent PID
,”
ASME
Paper No. DSCC2016-9712.
16.
Madadi
,
E.
,
Dong
,
Y.
, and
Söffker
,
D.
,
2017
, “
Model-Free Control Approach of a Three-Tank System Using an Adaptive-Based Control
,”
ASME
Paper No. DETC2017-67487.
17.
Levant
,
A.
,
1998
, “
Robust Exact Differentiation Via Sliding Mode Technique
,”
Automatica
,
34
(
3
), pp.
379
384
.
18.
Levant
,
A.
,
1993
, “
Sliding Order and Sliding Accuracy in Sliding Mode Control
,”
Int. J. Control
,
58
(
6
), pp.
1247
1263
.
19.
Hou
,
Z.
, and
Zhu
,
Y.
,
2013
, “
Controller-Dynamic-Linearization-Based Model Free Adaptive Control for Discrete-Time Nonlinear Systems
,”
IEEE Trans. Ind. Inf.
,
9
(
4
), pp.
2301
2309
.
20.
Goodwin
,
G. C.
, and
Sin
,
K. S.
,
2014
,
Adaptive Filtering Prediction and Control
,
Courier Corporation
,
Chelmsford, MA
.
You do not currently have access to this content.