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

Download the digital copy of the doc pdf document

Authors

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 Castelló and German A. Ramos. Iterative learning control experimental results in twin-rotor device. Mathematical Problems in Engineering, 2017: 6519497, 2017.