DocumentCode :
2251462
Title :
Adaptive recursive control of a soil testing load frame
Author :
Milthorp, Thomas ; Becerra, Victor ; Holderbaum, William ; Hutt, Benjamin
Author_Institution :
Sch. of Syst. Eng., Univ. of Reading, Reading, UK
fYear :
2011
fDate :
17-19 Sept. 2011
Firstpage :
102
Lastpage :
107
Abstract :
Recursive Learning Control (RLC) has the potential to significantly reduce the tracking error in many repetitive trajectory applications. This paper presents an application of RLC to a soil testing load frame where non-adaptive techniques struggle with the highly nonlinear nature of soil. The main purpose of the controller is to apply a sinusoidal force reference trajectory on a soil sample with a high degree of accuracy and repeatability. The controller uses a feedforward control structure, recursive least squares adaptation algorithm and RLC to compensate for periodic errors. Tracking error is reduced and stability is maintained across various soil sample responses.
Keywords :
adaptive control; feedforward; geotechnical engineering; learning systems; mechanical testing; mechanical variables control; soil; adaptive recursive control; feedforward control; recursive learning control; recursive least squares adaptation algorithm; sinusoidal force reference trajectory; soil testing load frame; Control systems; Equations; Force; Mathematical model; Motor drives; Soil; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2011 IEEE Conference on
Conference_Location :
Qingdao
ISSN :
2158-2181
Print_ISBN :
978-1-61284-252-3
Type :
conf
DOI :
10.1109/RAMECH.2011.6070464
Filename :
6070464
Link To Document :
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