Embedding MIMO nonlinear algorithms for control-A comparative study

Arturo Rojas-Moreno

doi:10.1109/CCAC.2017.8276469

Embedding MIMO nonlinear algorithms for control-A comparative study

Arturo Rojas-Moreno

Department of Electrical and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This work deals with the embedding of MIMO (Multiple Input Multiple Output) nonlinear algorithms on a CompactRIO (RIO: Reconfigurable Input Output) platform with the purpose of controlling car and arm positions of a translational manipulator. The HMI (Human Machine Interface) program is created using the LabVIEW language, while the algorithms are written in Mathscript, which is a LabVIEW tool for executing textual mathematical expressions. The following algorithms are embedded: backstepping, model reference adaptive, and sliding mode. An experimental comparative study about the performance of such algorithms is also discussed.

Original language	English
Title of host publication	2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
Editors	Diego Patino, Eugenio Yime
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538603987
DOIs	https://doi.org/10.1109/CCAC.2017.8276469
State	Published - 2 Jul 2017
Event	3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 - Cartagena, Colombia Duration: 18 Oct 2017 → 20 Oct 2017

Publication series

Name	2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
Volume	2018-January

Conference

Conference	3rd IEEE Colombian Conference on Automatic Control, CCAC 2017
Country/Territory	Colombia
City	Cartagena
Period	18/10/17 → 20/10/17

Access to Document

10.1109/CCAC.2017.8276469

Cite this

Rojas-Moreno, A. (2017). Embedding MIMO nonlinear algorithms for control-A comparative study. In D. Patino, & E. Yime (Eds.), 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings (pp. 1-6). (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2017.8276469

Rojas-Moreno, Arturo. / Embedding MIMO nonlinear algorithms for control-A comparative study. 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. editor / Diego Patino ; Eugenio Yime. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings).

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abstract = "This work deals with the embedding of MIMO (Multiple Input Multiple Output) nonlinear algorithms on a CompactRIO (RIO: Reconfigurable Input Output) platform with the purpose of controlling car and arm positions of a translational manipulator. The HMI (Human Machine Interface) program is created using the LabVIEW language, while the algorithms are written in Mathscript, which is a LabVIEW tool for executing textual mathematical expressions. The following algorithms are embedded: backstepping, model reference adaptive, and sliding mode. An experimental comparative study about the performance of such algorithms is also discussed.",

author = "Arturo Rojas-Moreno",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 ; Conference date: 18-10-2017 Through 20-10-2017",

year = "2017",

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doi = "10.1109/CCAC.2017.8276469",

language = "English",

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Rojas-Moreno, A 2017, Embedding MIMO nonlinear algorithms for control-A comparative study. in D Patino & E Yime (eds), 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 3rd IEEE Colombian Conference on Automatic Control, CCAC 2017, Cartagena, Colombia, 18/10/17. https://doi.org/10.1109/CCAC.2017.8276469

Embedding MIMO nonlinear algorithms for control-A comparative study. / Rojas-Moreno, Arturo.
2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. ed. / Diego Patino; Eugenio Yime. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Rojas-Moreno A. Embedding MIMO nonlinear algorithms for control-A comparative study. In Patino D, Yime E, editors, 2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings). doi: 10.1109/CCAC.2017.8276469

Embedding MIMO nonlinear algorithms for control-A comparative study

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