Fictitious Reference Iterative Tuning of Discrete-Time Model-Free Control for Tower Crane Systems

Raul-Cristian ROMAN¹, Radu-Emil PRECUP^1,2*, Emil M. PETRIU³, Mihai MUNTYAN¹
¹ Department of Automation and Applied Informatics, Politehnica University of Timisoara,
Bd. 2 V. Parvan, 300223 Timisoara, Romania
raul-cristian.roman@upt.ro, mihai.muntyan@student.upt.ro
² Center for Fundamental and Advanced Technical Research, Romanian Academy – Timisoara Branch,
Bd. 24 Mihai Viteazu, 300223 Timisoara, Romania
radu.precup@upt.ro (*Corresponding author)
³ School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON K1N 6N5, Canada
petriu@uottawa.ca

Abstract: The purpose of this paper is to propose a novel controller that is based on a combination of two data-driven algorithms, namely the Fictitious Reference Iterative Tuning (FRIT) algorithm and the Model-Free Adaptive Control (MFC) algorithm while considering a particular form of MFC, that is the intelligent proportional-integral-derivative (iPID) controller. The main advantage of this combination is that the FRIT algorithm optimally tunes the parameters of the iPID controller by solving an optimization problem based on a metaheuristic African Vultures Optimization Algorithm (AVOA). The novel controller, referred to as the FRIT-iPID controller, is validated experimentally on a three-degree-of-freedom tower crane system laboratory equipment in the context of controlling the cart position, the arm angular position and the payload position for this system.

Keywords: Fictitious reference feedback tuning, Model-free control, Tower crane systems.

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CITE THIS PAPER AS:
Raul-Cristian ROMAN, Radu-Emil PRECUP, Emil M. PETRIU, Mihai MUNTYAN, Fictitious Reference Iterative Tuning of Discrete-Time Model-Free Control for Tower Crane Systems, Studies in Informatics and Control, ISSN 1220-1766, vol. 32(1), pp. 5-14, 2023. https://doi.org/10.24846/v32i1y202301