Model Based Computed Torque Control for an Experimental Test Bed

Abstract

Contemporarily, numerous software packages are available to simulate the performance and reliability of new control methods and algorithms in research and development state. However, it is still advantageous to test these methods on real physical hardware to prove their real practical usability. During the several passed years, different versions of low cost aero-dynamical test beds was built at Óbuda University for this purpose and also for engineering education. In this paper, the details of latest improved version is presented, mainly concentrating on the assumptions and validation measurements concerning the test bed system model. Besides that, computed torque control (CTC) method was implemented and tested on the improved test bed for position regulation. The performance of CTC algorithm is also presented and evaluated in case of different experimental scenarios.