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Repetitive control for systems with time-delays and application to robotic servo motor
Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Griñó Cubero, Robert; Guo, Yu
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d´Energia
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.
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Automatic control
Time-delay systems
repetitive control
periodic signals
Control automàtic
info:eu-repo/semantics/publishedVersion
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