Adaptive recursive control of a soil testing load frame

Milthorp, T., Becerra, V., Holderbaum, W. ORCID: https://orcid.org/0000-0002-1677-9624 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. doi: 10.1109/RAMECH.2011.6070464

Abstract/Summary

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.