Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace:

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

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Guo, yu
Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Griñó Cubero, Robert; Guo, Y.
Na, Jing; Ren, Xuemei; Gao, Yan; Griñó Cubero, Robert; Costa Castelló, Ramon
Na, Jing; Costa Castelló, Ramon; Griñó Cubero, Robert; Xuemei, Ren