A survey of repetitive control

Cuiyan, Li; Zhang, Dongchun; Zhuang, Xinhua

doi:10.1109/iros.2004.1389553

Cited by 80 publications

(46 citation statements)

References 91 publications

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“…ILC is closely related to repetitive control (Cuiyan, Dongchun, and Xianyi, 2004) and to multi-pass control (Edwards, 1974;Owens, 1977). This example shows how the intermittent parameter estimation method of Section 11.3 can be used in the context of iterative learning.…”

Section: Intermittent Control In Man and Machinementioning

confidence: 99%

Event-Based Data Acquisition and Reconstruction—Mathematical Background

Thao¹

2018

Event-Based Control and Signal Processing

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Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering literature. This article discusses a particular mathematical model of Event-driven Intermittent Control which brings together engineering and physiological insights and builds on and extends previous work in this area. Illustrative examples of the properties of Intermittent Control in a physiological context are given together with suggestions for future research directions in both physiology and engineering. i arXiv:1407.3543v1 [q-bio.QM]

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Section: Intermittent Control In Man and Machinementioning

confidence: 99%

Event-Based Data Acquisition and Reconstruction—Mathematical Background

Thao¹

2018

Event-Based Control and Signal Processing

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“…The feed-forward term has to adapt to the specific task by a learning method. We propose using repetitive control (RC), which can achieve near perfect tracking of a given reference if the conditions of the task remain relatively the same [16], [17]. The approach is described in the next section.…”

Section: B Coupling Of Periodic Dmpsmentioning

confidence: 99%

“…Stability of RC is a wide and complex topic. As discussed in a survey by Cuiyan et al [17], different types of RC control require different design and synthesis methods. In general, the selection of control parameters involves a tradeoff between steady state accuracy, robustness and transient response of the system [17].…”

Section: Repetitive Controlmentioning

confidence: 99%

“…As discussed in a survey by Cuiyan et al [17], different types of RC control require different design and synthesis methods. In general, the selection of control parameters involves a tradeoff between steady state accuracy, robustness and transient response of the system [17]. Furthermore, there is also the phenomenon of apparent convergence, where the system apparently converges, but after some time diverges [23].…”

Section: Repetitive Controlmentioning

confidence: 99%

“…In order to achieve desired interaction with either the environment or another robot we combine feedback with a feed-forward term, which we learn in a few periods of the motion. The learning is based on repetitive control (RC), which can be used to achieve near perfect tracking of a given periodic reference [16], [17]. Our proposed approach allows adaptation of periodic trajectories to the state of the environment in order to achieve desired interaction.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Gams

Kieboom

Vespignani

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based on force feedback, allowing for rich motor behavior and skills. We propose and evaluate the combination of feedback and learned feed-forward terms to fully adapt the motions of a robot in order to achieve a desired force interaction with the environment. For the learning we employ the notion of repetitive control, which can effectively minimize the error of behavior towards a given reference. To demonstrate the approach, we show results of simulated and real world experiments on a compliant humanoid robot COMAN. We show the initial results of utilizing the approach to control a pedal-racer, a demanding balance toy best described as a hybrid between a skateboard and a bicycle.

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Iterative learning control and repetitive control in hard disk drive industry—A tutorial

Chen

Moore

et al. 2007

Adaptive Control & Signal

138

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This paper presents a tutorial on iterative learning control (ILC) and repetitive control (RC) techniques in hard disk drive (HDD) industry for compensation of repeatable runouts (RRO). After each tutorial, an application example is given. For ILC, a simple filtering-free implementation for written-in RRO compensation is presented. For the RC part, a new application of RC in dual-stage HDD servo is presented.

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A survey of repetitive control

Cited by 80 publications

References 91 publications

Event-Based Data Acquisition and Reconstruction—Mathematical Background

Event-Based Data Acquisition and Reconstruction—Mathematical Background

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Iterative learning control and repetitive control in hard disk drive industry—A tutorial

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