Repetitive control for systems with time-delays and application to robotic servo motor

Jing Na*, Xuemei Ren, Ramon Costa-Castelló, Robert Griñó, Yu Guo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages377-389
Number of pages13
Volume7429 LNAI
DOIs
Publication statusPublished - 20 Aug 2012
EventJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, United Kingdom
Duration: 20 Aug 201223 Aug 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7429 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

ConferenceJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
CountryUnited Kingdom
CityBristol
Period20/08/1223/08/12

Keywords

  • periodic signals
  • repetitive control
  • Time-delay systems

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