Iterative learning control experimental results in twin-rotor device
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 b...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/110132 |
| Acceso en línea: | https://hdl.handle.net/2117/110132 https://dx.doi.org/10.1155/2017/6519497 |
| Access Level: | acceso abierto |
| Palabra clave: | Helicopters--Automatic control Rotors (Helicopters) Helicopters -- Automatic control Rotors (Helicopters) -- Proves Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | 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. |
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