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

被引：0
|
作者：
Horla, Dariusz [1 ]
机构：
[1] Poznan Univ Tech, Fac Elect Engn, Inst Control & Informat Engn, Ul Piotrowo 3a, PL-60965 Poznan, Poland
来源：
ICINCO: PROCEEDINGS OF THE 14TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS - VOL 1 | 2017年
关键词：
Predictive Control; Actuator Failure; Sensor Failure; Robust System; SYSTEMS;
D O I：
10.5220/0006415105510558
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 to mimic actuator/sensor failures, and with a magnetic brake, to show the performance in the case of occurrence of an unexpected load.
引用
收藏
页码：551 / 558
页数：8
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