Passive Finite-Dimensional Repetitive Control of Robot Manipulators

On equivalence between internal and external model‐based repetitive learning controllers for nonlinear passive systems

“…Figure 2 shows the structure of the finite dimensional repetitive controller G r (s). The parallel interconnection of the N harmonic oscillators (8) and the integrator (9) represents the internal model of the periodic reference signal x d (t), [10], including higher order harmonics which are induced by the nonlinear system dynamics. …”

“…Recently, in [8] a new class of finite dimensional internal model-based repetitive controller for robot manipulators is proposed. In this paper, applicability of the proposed controller is extended to a general class of nonlinear passive systems, and equivalence with existing internal and external model-based repetitive controllers is proved.…”

Robust decentralized global asymptotic tracking control of a class of nonlinear mechanical systems

“…In the case of periodic reference signals and periodic external disturbances of known frequency, a model-free control approach for mechanical systems is still possible by using a repetitive learning controllers [4], [5]. Despite the high precision tracking performances, the main disadvantages of repetitive controllers is relatively high sensitivity to the frequency of a periodic signal and aperiodic distortions of signals.…”

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

“…Repetitive control is a promising control approach to achieve tracking of the periodic trajectories. This kind of control has gained a great deal of research interest in various forms, such as passivitybased repetitive control [1] , nonlinear repetitive control [2] , time-delay repetitive control [3] , minimum-norm and timeoptimal repetitive control [4] , optimal repetitive control [5] and adaptive repetitive control [6] . Industrial robots meet key structural features to perform repetitive trajectories in many manufacturing applications.…”