Embedding MIMO nonlinear algorithms for control-A comparative study

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Resumen

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.

Idioma originalInglés
Título de la publicación alojada2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
EditoresDiego Patino, Eugenio Yime
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas1-6
Número de páginas6
ISBN (versión digital)9781538603987
DOI
EstadoPublicada - 2 jul. 2017
Evento3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 - Cartagena, Colombia
Duración: 18 oct. 201720 oct. 2017

Serie de la publicación

Nombre2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
Volumen2018-January

Conferencia

Conferencia3rd IEEE Colombian Conference on Automatic Control, CCAC 2017
País/TerritorioColombia
CiudadCartagena
Período18/10/1720/10/17

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