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Development of a multivariable test facility for the evaluation of iterative learning controllers

Development of a multivariable test facility for the evaluation of iterative learning controllers
Development of a multivariable test facility for the evaluation of iterative learning controllers
This paper describes the development of a multivariable input, multivariable output (MIMO) experimental test facility, which will be used to evaluate, benchmark and compare advanced control strategies. The MIMO system incorporates two differential gears connected back-to-back, together with a number of spring-mass-damper modules. The system can be driven by two AC induction motors with inverter drives, and also a DC brushed motor and a four-quadrant drive. It incorporates two encoders, and a torque tube mounted on the central shaft. In the standard configuration, the system has two inputs, two outputs, and an additional disturbance injection input. However, the platform has also been designed to be multi-configurable, allowing the number of inputs and outputs to be varied in order to expand the scope of the system. The test facility will be used to evaluate a significant number of Iterative Learning Control (ILC) schemes performing reference tracking tasks, and results will be compared with other control methods such as adaptive control, repetitive control and classical ILC methods.
Dinh Van, Thanh
01c5b7fd-b205-4e90-a11a-1c811c02d9ae
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Dinh Van, Thanh
01c5b7fd-b205-4e90-a11a-1c811c02d9ae
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e

Dinh Van, Thanh, Freeman, Christopher and Lewin, Paul (2011) Development of a multivariable test facility for the evaluation of iterative learning controllers. UKACC PhD Student Presentation Event, London, United Kingdom. 10 Mar 2011.

Record type: Conference or Workshop Item (Paper)

Abstract

This paper describes the development of a multivariable input, multivariable output (MIMO) experimental test facility, which will be used to evaluate, benchmark and compare advanced control strategies. The MIMO system incorporates two differential gears connected back-to-back, together with a number of spring-mass-damper modules. The system can be driven by two AC induction motors with inverter drives, and also a DC brushed motor and a four-quadrant drive. It incorporates two encoders, and a torque tube mounted on the central shaft. In the standard configuration, the system has two inputs, two outputs, and an additional disturbance injection input. However, the platform has also been designed to be multi-configurable, allowing the number of inputs and outputs to be varied in order to expand the scope of the system. The test facility will be used to evaluate a significant number of Iterative Learning Control (ILC) schemes performing reference tracking tasks, and results will be compared with other control methods such as adaptive control, repetitive control and classical ILC methods.

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Published date: 2011
Additional Information: Event Dates: 10 March 2011
Venue - Dates: UKACC PhD Student Presentation Event, London, United Kingdom, 2011-03-10 - 2011-03-10
Organisations: EEE

Identifiers

Local EPrints ID: 272592
URI: http://eprints.soton.ac.uk/id/eprint/272592
PURE UUID: f27ba047-0b21-4d48-ae97-b6298b73c334

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Date deposited: 23 Jul 2011 10:50
Last modified: 29 Sep 2020 17:39

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