Adaptive Smith Predictor Control Scheme for a Nonlinear Hydraulic System

D. Krata,M. Ochman, M. Panek,M. Skoczen, K. Spyra, Z. Kulas, D. Sroczynski,A. Pawlowski

2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )（2021）

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摘要

This paper introduces an adaptive control scheme for a nonlinear actuation system applied to a mobile robot transmission system. The hydraulic process analyzed is characterized by a strong nonlinearity and dead time, which makes it non-trivial to deal with from a control system standpoint. In such a case, a control system for a nonlinear process has to adapt to its variable dynamics providing the ...

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关键词

Adaptation models,Computational modeling,Process control,Predictive models,Control systems,Robustness,Nonlinear dynamical systems

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