The Improvement And The Application Of The Model Free Adaptive Control Method

The data-driven control is that the design of the controller does not contain the mathematical model information of the controlled plant and only uses the input and output information of the plant.As an advanced data-driven control theory,model-free adaptive control has aroused great interest among scholars in many complex nonlinear systems.Compared to the compat form and the partial form model-free adaptive control methods,the full form model-free adaptive control strategy can better capture the possible complex dynamics of the system.According to the number of input and output of the system,the full form model-free adaptive control algorithm is divided into two categories:multiple input multiple output(MIMO)and single input single output(SISO).Therefore,in this paper,the MIMO and SISO full form model-free adaptive control methods are improved as the basic methods.Then they are applied to the six degrees of freedom manipulator and the magnetic levitation ball system,which is of great significance.An improved model-free adaptive sliding mode control scheme which combines the MIMO full form model-free adaptive control and the sliding mode control is designed for the six degrees of freedom industrial manipulator.The kinematics and dynamics problems of six degrees of freedom industrial manipulator are analyzed.In SolidWorks,the model of six degrees of freedom manipulator is established and the combination mode of SimMechanics and SIMULINK is adopted to establish the simulation model of the control algorithm.For the improved model-free adaptive sliding mode control scheme,the stability is analyzed and the convergence of the error is proved.Then,the controller based on model-free adaptive sliding mode control algorithm is designed for the manipulator system.Compared with the conventional model-free adaptive control effect,the proposed improved algorithm can achieve higher precision,faster control performance and the controller does not require the information of the model and it is simple and feasible.For the magnetic levitation ball system,an improved model-free adaptive sliding mode control scheme which combines the SISO full form model-free adaptive control and the sliding mode control is designed.At the same time,the characteristic model control and PID control scheme are respectively adopted for comparison.The simulation experiment results show that the model-free adaptive sliding mode control method has better control effects than the conventional model-free adaptive control and PID methods,which verifies the effectiveness of the improved model-free adaptive sliding mode control algorithm.By improving the MIMO and SISO full format model-free adaptive control algorithms,which are successfully applied in the two complex nonlinear systems-six degrees of freedom manipulator and magnetic levitation ball respectively,the feasibility and effectiveness of the improved scheme that combines the full format model-free adaptive control and sliding mode control is fully verified.