Adaptive Predictive Controller for a Servo Drive – Actuator/Sensor Failure Study Experiments

Dariusz Horla

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Paper

Adaptive Predictive Controller for a Servo Drive – Actuator/Sensor Failure Study Experiments

Topics: Adaptive Signal Processing and Control; Engineering Applications

In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 551-558, 2017 , Madrid, Spain

Author: Dariusz Horla

Affiliation: Faculty of Electrical Engineering and Poznan University of Technology, Poland

Keyword(s): Predictive Control, Actuator Failure, Sensor Failure, Robust System.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The paper considers the problem of predictive control with actuator or sensor failures. The problem is to show in what configuration (i.e. for what prediction horizons) the adaptive generalized predictive control can tolerate these failures, assuring similar performance in comparison with the case without failures. The results are shown on the basis of experiments conducted on the laboratory stand with a servo drive coupled with a mechanical backlash module do mimic actuator/sensor failures, and with a magnetic brake, to show the performance in the case of occurrence of an unexpected load.

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Paper citation in several formats:

Horla, D. (2017). Adaptive Predictive Controller for a Servo Drive – Actuator/Sensor Failure Study Experiments. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-263-9; ISSN 2184-2809, SciTePress, pages 551-558. DOI: 10.5220/0006415105510558

@conference{icinco17,
author={Dariusz Horla.},
title={Adaptive Predictive Controller for a Servo Drive – Actuator/Sensor Failure Study Experiments},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2017},
pages={551-558},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006415105510558},
isbn={978-989-758-263-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Adaptive Predictive Controller for a Servo Drive – Actuator/Sensor Failure Study Experiments
SN - 978-989-758-263-9
IS - 2184-2809
AU - Horla, D.
PY - 2017
SP - 551
EP - 558
DO - 10.5220/0006415105510558
PB - SciTePress