Embedding MIMO nonlinear algorithms for control — A comparative study

摘要

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.