IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/6519497.html
   My bibliography  Save this article

Iterative Learning Control Experimental Results in Twin-Rotor Device

Author

Listed:
  • R. Mascaró Palliser
  • Ramon Costa-Castelló
  • G. A. Ramos

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.

Suggested Citation

  • R. Mascaró Palliser & Ramon Costa-Castelló & G. A. Ramos, 2017. "Iterative Learning Control Experimental Results in Twin-Rotor Device," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-12, October.
    • Handle: RePEc:hin:jnlmpe:6519497
    DOI: 10.1155/2017/6519497
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2017/6519497.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2017/6519497.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2017/6519497?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:6519497. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.