Adaptive recursive control of a soil testing load frame

Thomas Milthorp, Victor Becerra, William Holderbaum, Benjamin Hutt

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    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.
    Original languageEnglish
    Title of host publication2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM)
    Place of PublicationPiscataway
    PublisherIEEE/ IAPR
    ISBN (Print)9781612842523
    Publication statusPublished - 1 Sept 2011


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