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Iterative learning control experimental results in twin-rotor device

AuthorsMascaró Palliser, R.; Costa Castelló, Ramon ; Ramos, German A.
Issue Date2017
PublisherHindawi Publishing Corporation
CitationMathematical Problems in Engineering: 6519497 (2017)
AbstractThis 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.
Publisher version (URL)https://doi.org/10.1155/2017/6519497
Identifiersdoi: 10.1155/2017/6519497
issn: 1024-123X
e-issn: 1563-5147
Appears in Collections:(IRII) Artículos
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