Publication detail

Adaptive Control of Electro-Mechanical Actuator using Receptive Field Weighted Regression

GREPL, R. SOVA, V. CHALUPA, J.

Original Title

Adaptive Control of Electro-Mechanical Actuator using Receptive Field Weighted Regression

English Title

Adaptive Control of Electro-Mechanical Actuator using Receptive Field Weighted Regression

Type

conference paper

Language

en

Original Abstract

For control of strongly nonlinear electro-mechanical actuator, it is useful to use composite regulator consisting of a PID and feedforward and/or feedback nonlinearities compensator. In this article, we show the application of Receptive Field Weighted Regression for approximation of reduced inverse dynamic model of the actuator. This model neglects the effect of inertia in the model of the actuartor, which solves the problem of difficulty related to practical measurement/estimation of the acceleration from the measured positions. The resulting controller is able to self-tune and further adapt to the changes of parameters due to wear, temperature and other environmental conditions.

English abstract

For control of strongly nonlinear electro-mechanical actuator, it is useful to use composite regulator consisting of a PID and feedforward and/or feedback nonlinearities compensator. In this article, we show the application of Receptive Field Weighted Regression for approximation of reduced inverse dynamic model of the actuator. This model neglects the effect of inertia in the model of the actuartor, which solves the problem of difficulty related to practical measurement/estimation of the acceleration from the measured positions. The resulting controller is able to self-tune and further adapt to the changes of parameters due to wear, temperature and other environmental conditions.

Keywords

nonlinear control; adaptive control; electromechanical actuator; receptive field weighted regression

RIV year

2015

Released

21.09.2015

ISBN

978-3-319-23921-7

Book

Advanced Mechatronics Solutions

Pages from

621

Pages to

626

Pages count

6

Documents

BibTex


@inproceedings{BUT117397,
  author="Robert {Grepl} and Václav {Sova} and Jan {Chalupa}",
  title="Adaptive Control of Electro-Mechanical Actuator using Receptive Field Weighted Regression",
  annote="For control of strongly nonlinear electro-mechanical actuator, it is useful to use composite regulator consisting of a PID and feedforward and/or feedback nonlinearities compensator. In this article, we show the application of Receptive Field Weighted Regression for approximation of reduced inverse dynamic model of the actuator. This model neglects the effect of inertia in the model of the actuartor, which solves the problem of difficulty related to practical measurement/estimation of the acceleration from the measured positions. The resulting controller is able to self-tune and further adapt to the changes of parameters due to wear, temperature and other environmental conditions.",
  booktitle="Advanced Mechatronics Solutions",
  chapter="117397",
  howpublished="print",
  year="2015",
  month="september",
  pages="621--626",
  type="conference paper"
}