文献类型：会议论文

英文题名：Realization of a Data-based Adaptive Networked Tracking Control in NetCon System

作者：Zhao, Ye[1];Tong, Shiwen[2,3]

通讯作者：Tong, SW[1];Tong, SW[2]

机构：[1]Beijing Union Univ, Coll Urban Rail Transit & Logist, Beijing 100101, Peoples R China;[2]Beijing Union Univ, Coll Robot, Beijing 100101, Peoples R China;[3]Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

第一机构：北京联合大学

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Robot, Beijing 100101, Peoples R China;[2]corresponding author), Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;

会议论文集：40th Chinese Control Conference (CCC)

会议日期：JUL 26-28, 2021

会议地点：Shanghai, PEOPLES R CHINA

语种：英文

外文关键词：Fuzzy singleton model; inverse model; adaptive strategy; NetCon system

摘要：It is very difficult to realize the networked tracking control of a controlled process with unclear mechanism. An adaptive networked tracking control method that we proposed can solve such a problem. The method is a data-based control scheme started from the input-output data of the controlled process. We have realized it in the NetCon system. Firstly, the T-S fuzzy model of the controlled object is established according to input-output data by using fuzzy cluster modeling technology. Then the fuzzy prediction model is obtained by transforming it into the fuzzy singleton model through equivalent transformation. A series of control actions are derived by inverting the fuzzy singleton model according to the reversibility condition. These predicted values can compensate the data dropout and time delay in the network communication channels. The influence of external disturbance and uncertainty on system performance is eliminated by using internal model structure and adaptive control method. Finally, experiment results in NetCon system show the effectiveness of the proposed method.