Model-free control of a two-dimensional system based on uncertainty reconstruction and attenuation

摘要

This paper analyses the robustness of the Model-Free Control (MFC) technique. The experimental tests are conducted on a 2DOF laboratory manipulator. The multi-dimensional, nonlinear, time-varying, cross-coupled, and mostly unknown dynamics of the considered system makes an effective control of such plant a highly demanding task. Obtained results are compared with the outcomes of a classical PID controller, widely used in industrial applications. The gathered experimental data makes the MFC a powerful fault-tolerant approach, that can eventually grow to a noticeable alternative to the controllers used in engineering practice nowadays.