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Title:
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Repetitive control for systems with time-delays and application to robotic servo motor
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Author:
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Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Griñó Cubero, Robert; Guo, Y.
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia |
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Abstract:
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In many industrial robotic applications there is a need to
track periodic reference signals and/or reject periodic disturbances. This
paper presents a novel repetitive control design for systems with constant
time-delays in both forward and feedback control channels. An additional
delay is introduced together with plant delays to construct an internal
model for periodic signals, and a simple proportional control is utilized
to stabilize the closed-loop system. Sufficient stability conditions of the
closed-loop system and the robustness analysis under modeling uncertainties
are studied. Experimental results are included to evaluate the
validity and effectiveness of the proposed method. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control
-Automatic control
-Industrial robotics
-Internal models
-Modeling uncertainties
-Periodic disturbances
-Periodic reference signals
-Periodic signal
-Proportional control
-Repetitive control
-Robustness analysis
-Stability condition
-Time-delay systems
-Control automàtic |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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Share:
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