Iterative Learning Control Experimental Results in Twin-Rotor Device

R. Mascaró Palliser, Ramon Costa-Castelló and G. A. Ramos

Mathematical Problems in Engineering, 2017, vol. 2017, 1-12

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.

Date: 2017
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6519497

DOI: 10.1155/2017/6519497

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