Model-free Speed Control of Single-phase Flux Switching Motor with an Asymmetrical Rotor

This paper proposes and implements a model-free open-loop iterative learning control(ILC)strategy to realize the speed control of the single-phase flux switching motor(FSM)with an asymmetrical rotor.Base on the proposed winding control method,the asymmetrical rotor enables the motor to generate continuous positive torque for positive rotation,and relatively small resistance torque for negative rotation.An initial iteration coefficient and variable iteration coefficient optimized scheme was proposed based on the characteristics of the hardware circuit,thereby forming the model-free strategy.A series of prototype experiments was carried out.Experimental results verify the effectiveness and practicability of the proposed ILC strategy.

基于一种距离相关的超高维生存数据Model-Free特征筛选

随着大数据时代的来临,数据维度爆炸式增长,超高维数据的降维问题逐渐成为众多研究领域的热点话题。由于响应变量通常存在右删失,处理超高维完全数据的降维方法在右删失数据中将不再适用。本研究提出一种新的基于距离相关能有效处理超高维右删失数据的特征筛选方法。首先利用距离相关系数计算每个协变量对响应变量的边际效应,建立与该系数有关的筛选指标,然后再根据事先确立的筛选准则进行特征筛选。提出的特征筛选方法不依赖任何模型结构假定,因此可以有效避免模型指定错误带来的不良后果。此外,该方法采用的距离协方差估计量是总体距离协方差的一个无偏估计,统计准确性和计算精度高。模拟和实证研究表明,提出的方法能在保留所有重要变量的前提下快速剔除与响应变量相关程度较弱的协变量,从而达到降低参数维数的目的。

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Model-Free Adaptive Frequency Calibration for Voltage-Controlled Oscillators

The operating frequency accuracy of the local oscillators is critical for the overall system performance in the communication systems.However,the high-precision oscillators could be too expensive for civil applications.In this paper,we propose a model-free adaptive frequency calibration framework for a voltage-controlled crystal oscillator(VCO)equipped with a time to digital converter(TDC),which can significantly improve the frequency accuracy of the VCO thus calibrated.The idea is to utilize a high-precision TDC to directly measure the VCO period which is then passed to a model-free method for working frequency calibration.One advantage of this method is that the working frequency calibration employs the system history of input/output(I/O)data,instead of establishing an accurate VCO voltagecontrolled oscillator model.Another advantage is the lightweight calibration method with low complexity such that it can be implemented on an MCU with limited computation capabilities.Experimental results show that the proposed calibration method can improve the frequency accuracy of a VCO from±20 ppm to±10 ppb,which indicates the promise of the modelfree adaptive frequency calibrator for VCOs.

Sampled-data control through model-free reinforcement learning with effective experience replay

Reinforcement Learning(RL)based control algorithms can learn the control strategies for nonlinear and uncertain environment during interacting with it.Guided by the rewards generated by environment,a RL agent can learn the control strategy directly in a model-free way instead of investigating the dynamic model of the environment.In the paper,we propose the sampled-data RL control strategy to reduce the computational demand.In the sampled-data control strategy,the whole control system is of a hybrid structure,in which the plant is of continuous structure while the controller(RL agent)adopts a discrete structure.Given that the continuous states of the plant will be the input of the agent,the state–action value function is approximated by the fully connected feed-forward neural networks(FCFFNN).Instead of learning the controller at every step during the interaction with the environment,the learning and acting stages are decoupled to learn the control strategy more effectively through experience replay.In the acting stage,the most effective experience obtained during the interaction with the environment will be stored and during the learning stage,the stored experience will be replayed to customized times,which helps enhance the experience replay process.The effectiveness of proposed approach will be verified by simulation examples.

Event-Triggered Asymmetric Bipartite Consensus Tracking for Nonlinear Multi-Agent Systems Based on Model-Free Adaptive Control

In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.

Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer

This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.

Model-Free Ultra-High-Dimensional Feature Screening for Multi-Classified Response Data Based on Weighted Jensen-Shannon Divergence

In ultra-high-dimensional data, it is common for the response variable to be multi-classified. Therefore, this paper proposes a model-free screening method for variables whose response variable is multi-classified from the point of view of introducing Jensen-Shannon divergence to measure the importance of covariates. The idea of the method is to calculate the Jensen-Shannon divergence between the conditional probability distribution of the covariates on a given response variable and the unconditional probability distribution of the covariates, and then use the probabilities of the response variables as weights to calculate the weighted Jensen-Shannon divergence, where a larger weighted Jensen-Shannon divergence means that the covariates are more important. Additionally, we also investigated an adapted version of the method, which is to measure the relationship between the covariates and the response variable using the weighted Jensen-Shannon divergence adjusted by the logarithmic factor of the number of categories when the number of categories in each covariate varies. Then, through both theoretical and simulation experiments, it was demonstrated that the proposed methods have sure screening and ranking consistency properties. Finally, the results from simulation and real-dataset experiments show that in feature screening, the proposed methods investigated are robust in performance and faster in computational speed compared with an existing method.

Model-Free Feature Screening via Maximal Information Coefficient (MIC) for Ultrahigh-Dimensional Multiclass Classification

It is common for datasets to contain both categorical and continuous variables. However, many feature screening methods designed for high-dimensional classification assume that the variables are continuous. This limits the applicability of existing methods in handling this complex scenario. To address this issue, we propose a model-free feature screening approach for ultra-high-dimensional multi-classification that can handle both categorical and continuous variables. Our proposed feature screening method utilizes the Maximal Information Coefficient to assess the predictive power of the variables. By satisfying certain regularity conditions, we have proven that our screening procedure possesses the sure screening property and ranking consistency properties. To validate the effectiveness of our approach, we conduct simulation studies and provide real data analysis examples to demonstrate its performance in finite samples. In summary, our proposed method offers a solution for effectively screening features in ultra-high-dimensional datasets with a mixture of categorical and continuous covariates.

A Model-Free Method for Structual Change Detection Multivariate Nonlinear Time Series

In this paper, we apply the recursive genetic programming (RGP) approach to the cognition of a system, and then proceed to the detecting procedure for structural changes in the system whose components are of long memory. This approach is adaptive and model-free, which can simulate the individual activities of the system's participants, therefore, it has strong ability to recognize the operating mechanism of the system. Based on the previous cognition about the system, a testing statistic is developed for the detection of structural changes in the system. Furthermore, an example is presented to illustrate the validity and practical value of the proposed.

Distributed generator-based distribution system service restoration strategy and model-free control methods

The rapid growth of distributed generator(DG)capacities has introduced additional controllable assets to improve the performance of distribution systems in terms of service restoration.Renewable DGs are of particular interest to utility companies,but the stochastic nature of intermittent renewable DGs could have a negative impact on the electric grid if they are not properly handled.In this study,we investigate distribution system service restoration using DGs as the primary power source,and we develop an effective approach to handle the uncertainty of renewable DGs under extreme conditions.The distribution system service restoration problem can be described as a mixed-integer second-order cone programming model by modifying the radial topology constraints and power flow equations.The uncertainty of renewable DGs will be modeled using a chance-constrained approach.Furthermore,the forecast errors and noises in real-time operation are solved using a novel model-free control algorithm that can automatically track the trajectory of real-time DG output.The proposed service restoration strategy and model-free control algorithm are validated using an IEEE 123-bus test system.

Model-free adaptive control of space manipulator under different gravity environment

Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This paper presents a model-free adaptive control(MFAC) strategy to track the desired trajectory under different gravity environment. A dynamic transformation method and full form dynamic linearization(FFDL) approach are selected to dynamicly linearize the system, which can better eliminate the complex dynamics that may exist in the original system. The controlled object uses the two degrees of freedom of space manipulator and the controller only depends on the desired angle and torque of each joint of the space manipulator. Moreover, the proof of stability is also provided. Finally, simulation results are presented to demonstrate the effectiveness of the proposed strategy. It is shown that the proposed approach can achieve better trajectory tracking performance under different gravity environment without changing the control parameters, and the tracking precision can be significantly improved as compared with the proportional differential(PD) control results.

Model-free Adaptive Control for Spacecraft Attitude

A model-free adaptive control method is proposed for the spacecrafts whose dynamical parameters change over time and cannot be acquired accurately. The algorithm is based on full form dynamic linearization.A dimension reduction matrix is introduced to construct an augmented system with the same dimension input and output. The design of the controller depends on the system input and output data rather than the knowledge of the controlled plant. The numerical simulation results show that the improved controller can deal with different models with the same set of controller parameters,and the controller performance is better than that of PD controller for the time-varying system with disturbance.

Model-Free Feature Screening Based on Gini Impurity for Ultrahigh-Dimensional Multiclass Classification

It is quite common that both categorical and continuous covariates appear in the data. But, most feature screening methods for ultrahigh-dimensional classification assume the covariates are continuous. And applicable feature screening method is very limited;to handle this non-trivial situation, we propose a model-free feature screening for ultrahigh-dimensional multi-classification with both categorical and continuous covariates. The proposed feature screening method will be based on Gini impurity to evaluate the prediction power of covariates. Under certain regularity conditions, it is proved that the proposed screening procedure possesses the sure screening property and ranking consistency properties. We demonstrate the finite sample performance of the proposed procedure by simulation studies and illustrate using real data analysis.

Model-Free Sliding Mode Control for PMSM Drive System Based on Ultra-Local Model

This paper presents a novel model-free sliding mode control(MFSMC)method to improve the speed response of permanent magnet synchronous machine(PMSM)drive system.The ultra-local model(ULM)is first derived based on the input and the output of the PMSM.Then,the novel MFSMC method is presented,and the controller is designed based on ULM and MFSMC.A sliding mode observer(SMO)is constructed to estimate the unknown part of the ULM.The estimated unknown part is feedbacked to MFSMC controller to performcompensation for parameter perturbations and external disturbances.Compared with the sliding mode control(SMC)method,the results of simulation and experiment demonstrate that the presented MFSMC method improves the dynamic response and robustness of the PMSM drive system.

基于自适应超螺旋滑模观测器的Buck变换器无模型预测控制

针对三相交错并联Buck变换器在外部干扰下影响系统鲁棒性和动态性能的问题,本文提出一种基于自适应超螺旋滑模观测器的无模型预测控制策略。首先,建立超局部模型代替原有的数学模型,设计自适应超螺旋滑模观测器估计超局部模型中的动态部分。然后,引入最小二乘法预测电流误差趋势,动态调整观测器增益矩阵。最后,构建离散方程,设计代价函数,实现无模型预测控制。实验结果验证了所提算法可以有效抑制因外部扰动产生的稳态误差,且相较于传统无模型预测控制具有更好的鲁棒性和动态性能。

Event-triggered distributed optimization for model-free multi-agent systems

In this paper,the distributed optimization problem is investigated for a class of general nonlinear model-free multi-agent systems.The dynamical model of each agent is unknown and only the input/output data are available.A model-free adaptive control method is employed,by which the original unknown nonlinear system is equivalently converted into a dynamic linearized model.An event-triggered consensus scheme is developed to guarantee that the consensus error of the outputs of all agents is convergent.Then,by means of the distributed gradient descent method,a novel event-triggered model-free adaptive distributed optimization algorithm is put forward.Sufficient conditions are established to ensure the consensus and optimality of the addressed system.Finally,simulation results are provided to validate the effectiveness of the proposed approach.

A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

A flexible model-free tram signal priority method with a large coordination scope in China

Tram systems with the advantages of reliable operation,comfort,low emissions and moderate capacity have been quite popular in recent years in China.However,there are still problems with tram signal control(e.g.evaluation model,signal control strategies).In-depth analysis on existing operational issues of trams,calculation of two evaluation indexes,as well as a flexible model-free tram signal priority method were developed to deal with tram problems.Empirical research in Songjiang District,Shanghai shows that:(1)The function of the green extension strategy is limited with c.a.10%tram priority improvement,while the optimal one can reach to 85%higher on average.(2)A scheme with a benefit for trams and with no negative impact,and even benefits,for general traffic can be realized.(3)The optimal solution is beneficial for intersections with a maximum c.a.70%amelioration with delay decreasing from 132.7 s/vehicle to 40.89 s/vehicle,or from 104.77 s/capita to 22.31 s/capita.This paper has great significance for the signal optimization and safety of tram systems,even the development of a comprehensive transportation system for a city.