Repetitive control applied to robot manipulators

Oliveira, Israel Goncalves de; Lages, Walter Fetter

doi:10.1109/etfa.2016.7733549

Cited by 6 publications

(3 citation statements)

References 24 publications

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“…Repetitive control is an effectual design tool for plants subject to periodic exogenous signals (Alsubaie & Rogers, 2019;Jiangand & Hong, 2019). It has been applied to many practical systems, such as disk drives (Chen et al, 2008), robot manipulators (Fateh et al, 2013;Oliveira & Lages, 2016), electrohydraulic systems (Yang et al, 2018), vibration control (Hillerstrom, 1996), and switched boost converters (Ma et al, 2019). Its effectiveness on dealing with periodic exogenous signals has been well explained using the internal model principle (Xu et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Sliding repetitive control with adaptive bound estimation for motion systems liable to periodic exogenous signals

Lu¹,

Lin

2021

JER is an international, peer-reviewed journal that publishes f

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Periodic exogenous signals often exist in motion systems, especially those involving one or more rotating elements. These periodic exogenous signals deteriorate the performance of motion systems, and these adverse effects cannot be practically eliminated by straightforwardly increasing feedback control gains due to sensor noise, actuator saturation, and unmodeled plant dynamics. This paper describes a sliding repetitive controller for motion systems subject to periodic exogenous signals. Moreover, an adaptive law for bound estimation is devised to ensure the presence of a sliding motion for both repetitive learning and disturbance observation. The tracking motion system of a disk drive is considered in practice, and a traditional repetitive controller is also implemented for performance comparisons with the proposed scheme. Experimental results are reported in this paper, showing the efficacy of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%

Sliding repetitive control with adaptive bound estimation for motion systems liable to periodic exogenous signals

Lu¹,

Lin

2021

JER is an international, peer-reviewed journal that publishes f

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“…This circumstance is due to the fact that similar automatic systems are very increasingly used on various practical solutions. For example, control of models with delay may be occurring in: systems for manipulation robots [De Oliveira and Lages, 2016], some aircraft tracking systems [He, Guo, and Leang, 2017], systems for voltage converters [Li and Ye, 2018] and others.…”

Section: Introductionmentioning

confidence: 99%

Robust output control of multi-agent plants with state delay

Parsheva

Ternovaja

2019

CAP

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The problem of a robust control system design for interconnected systems with structural and parametrical uncertainty was solved for the case where derivatives of input and output parameters cannot be measured. The order of the mathematical model may change over time. Operability of the designed control systems in the case of non-measurable and bounded disturbances acting on the controlled plant was demonstrated. Only the measurable variables of the local subsystems are used to generate the control actions, that is, control is completely decentralized.

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“…This circumstance is due to the fact that similar automatic systems are very increasingly used on various practical solutions. For example, control of periodic modes may be occurring in: systems for manipulation robots [De Oliveira and Lages, 2016], some aircraft tracking systems [He, Guo, and Leang, 2017], systems for voltage converters [Li and Ye, 2018] and others.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear-periodic control system for non-affine multi-connected plant with state delay

Еремин

Shelenok

2018

CAP

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The article deals with the synthesis problem of control system regulator for non-affine multivariable dynamic plant with state delay. The plant operates in periodic modes and also in the presence of external disturbances and parametric uncertainty. As a solution methods the hyperstability criterion, the fast-acting dynamic corrector, and L-dissipativity conditions are used. The key step of the system synthesis is the receipt for V. M. Popov's integral inequality special estimates that ensure the fulfillment of the control goals. In final article part with the help of simulation the dynamic processes taking place in the proposed control system, are being visually illustrated.

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Repetitive control applied to robot manipulators

Cited by 6 publications

References 24 publications

Sliding repetitive control with adaptive bound estimation for motion systems liable to periodic exogenous signals

Sliding repetitive control with adaptive bound estimation for motion systems liable to periodic exogenous signals

Robust output control of multi-agent plants with state delay

Nonlinear-periodic control system for non-affine multi-connected plant with state delay

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