Accessibility navigation

Adaptive recursive control of a soil testing load frame

Milthorp, T., Becerra, V., Holderbaum, W. and Hutt, B. (2011) Adaptive recursive control of a soil testing load frame. In: 2011 IEEE Conference on Robotics, Automation and Mechatronics (RAM), 17-19 Sept. 2011 , Qingdao, pp. 102-107,

Full text not archived in this repository.

It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing.

To link to this item DOI: 10.1109/RAMECH.2011.6070464


Recursive Learning Control (RLC) has the potential to significantly reduce the tracking error in many repetitive trajectory applications. This paper presents an application of RLC to a soil testing load frame where non-adaptive techniques struggle with the highly nonlinear nature of soil. The main purpose of the controller is to apply a sinusoidal force reference trajectory on a soil sample with a high degree of accuracy and repeatability. The controller uses a feedforward control structure, recursive least squares adaptation algorithm and RLC to compensate for periodic errors. Tracking error is reduced and stability is maintained across various soil sample responses.

Item Type:Conference or Workshop Item (Paper)
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Interdisciplinary centres and themes > Soil Research Centre
ID Code:27063
Additional Information:ISSN: 2158-2181 Print ISBN: 978-1-61284-252-3

University Staff: Request a correction | Centaur Editors: Update this record

Page navigation