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

Dariusz Horla

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 Harvard Style

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, pages 551-558. DOI: 10.5220/0006415105510558


in Bibtex Style

@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},
}


in EndNote Style

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
AU - Horla D.
PY - 2017
SP - 551
EP - 558
DO - 10.5220/0006415105510558