Title:
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Quasi-LPV modelling and non-linear identification of a twin rotor system
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Author:
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Nejjari Akhi-Elarab, Fatiha; Rotondo, Damiano; Puig Cayuela, Vicenç; Innocenti, Mario
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control |
Abstract:
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This paper describes the experimental identifi-
cation of the parameters of the Twin Rotor MIMO System
(TRMS) non-linear model using data collected from the real lab
set-up. From this non-linear model, a quasi-linear parameter
varying (quasi-LPV) model has also been derived using a state
transformation. This quasi-LPV model is approximated with
a polytopic model using the bounding box approach. Such
a model can later be used for control design. The model
parameters have been calibrated by means of non-linear least-
squares identification approach. Once the calibrated non-linear
model has been obtained, a simulator has been built and
validated against real data showing satisfactory results when
compared to real data. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Automatic control -Rotors -Parameter estimation -Vector analysis -approximation methods -data models -MIMO -propellers -rotors -transmission line measurements -vectors -Control automàtic -Rotors -Estimació d'un paràmetre -Anàlisi vectorial |
Rights:
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Document type:
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Article - Published version Conference Object |
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