Publication
Iterative learning control experimental results in twin-rotor device
Journal Article (2017)
Journal
Mathematical Problems in Engineering
Pages
6519497
Volume
2017
Doc link
https://doi.org/10.1155/2017/6519497
File
Authors
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Mascaró Pallisee, Ruben
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Costa Castelló, Ramon
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Ramos, Germán Andrés
Abstract
This paper presents the results of applying the Iterative Learning Control algorithms to a Twin-Rotor Multiple-Input Multiple-Output System (TRMS) in order to achieve high performance in repetitive tracking of trajectories. The plant, which is similar to a prototype of helicopter, is characterized by its highly nonlinear and cross-coupled dynamics. In the first phase, the system is modelled using the Lagrangian approach and combining theoretical and experimental results. Thereafter, a hierarchical control architecture which combines a baseline feedback controller with an Iterative Learning Control algorithm is developed. Finally, the responses of the real device and a complete analysis of the learning behaviour are exposed.
Categories
control theory.
Scientific reference
R. Mascaró, R. Costa and German A. Ramos. Iterative learning control experimental results in twin-rotor device. Mathematical Problems in Engineering, 2017: 6519497, 2017.
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