Sliding-mode repetitive learning control with integral sliding-mode perturbation compensation

Lu, Yu; Wang, Xuan Wen

doi:10.1016/j.isatra.2008.10.013

Cited by 14 publications

(20 citation statements)

References 24 publications

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“…Consider the following control law [9]: Assume further that the exogenous signals d and x d have the same known period.…”

Section: Plant Model and Controller Structurementioning

confidence: 99%

“…Let the ISMPObased feedback compensation be of the following integral form [9]: (8) where k do is a positive constant parameter. Ideally, the compensation u do should be set to be equal to −b −1 so that u eq sw = 0, and (6) leads to the desired error dynamics.…”

Section: Disturbance Compensation and A Signal For Repetitive Learningmentioning

confidence: 99%

“…The configuration of the servo system is shown in Fig. Please refer to [9] for details on how the weight parameters w i m are updated in the Fourier-series approach. Table I also specifies the controller parameters, in which T denotes the duration of one cycle.…”

Section: Plant Description and Controller Designmentioning

confidence: 99%

See 2 more Smart Citations

An Improved Sliding‐Mode Repetitive Learning Control Scheme Using Wavelet Transform

Lu¹,

Wu²,

Lien³

2011

Asian Journal of Control

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This paper presents an enhanced sliding-mode repetitive learning control (SMRLC) scheme using the wavelet transform. Distinct from previous wavelet transform-based repetitive control schemes, the proposed SMRLC learns from a switching signal that is equivalent to the compensation error of the SMRLC, thereby speeding up the learning process. The wavelet analysis is employed to decompose the switching signal, capture its low-frequency components effectively, and synthesize a de-noised, high-scale signal for the learning process. Experimental study on a directly driven Hoekens straight-line mechanism is conducted, and the proposed wavelet transform-based SMRLC is experimentally compared with a Fourier series-based SMRLC.

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“…Consider the following control law [9]: Assume further that the exogenous signals d and x d have the same known period.…”

Section: Plant Model and Controller Structurementioning

confidence: 99%

Section: Disturbance Compensation and A Signal For Repetitive Learningmentioning

confidence: 99%

See 1 more Smart Citation

An Improved Sliding‐Mode Repetitive Learning Control Scheme Using Wavelet Transform

Lu¹,

Wu²,

Lien³

2011

Asian Journal of Control

Self Cite

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“…To overcome the individual limitations of variable‐structure control and RC, in this paper we integrate RC with variable‐structure control for a more effective compensation of periodic and nonperiodic uncertainties . Moreover, in this study, we extend the initial work presented by Mitrevska et al and propose a discrete terminal sliding mode RC (TSMRC), in which the RC eliminates the repeatable uncertainties, whereas the TSMC provides fast convergence and robustness against the nonrepeatable nonlinearities and parameter uncertainties.…”

Section: Introductionmentioning

confidence: 96%

Discrete terminal sliding mode repetitive control for a linear actuator with nonlinear friction and uncertainties

Mitrevska

Cao

Zheng

et al. 2019

Intl J Robust & Nonlinear

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Summary A robust discrete terminal sliding mode repetitive controller is proposed for a class of nonlinear positioning systems with parameter uncertainties and nonlinear friction. The terminal sliding mode control (TSMC) part is designed to improve the transient characteristics of the system, as well as the robustness against parameter uncertainties, nonperiodic nonlinearities, and disturbances. The repetitive control (RC) part is then integrated to eliminate the effects of the periodic uncertainties present in the system. Moreover, a pure phase lead compensator is incorporated into the RC to improve the tracking at high frequencies. A robust stability analysis and an analysis of the finite time convergence properties of the proposed controller are also provided in this paper. Simulation testing and an experimental validation using a linear actuator system with nonlinear friction and parameter uncertainties are conducted to verify the effectiveness of the proposed controller.

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“…Generally, the SMC law consists of a discontinues signal, and it will create the fluctuation of system state. Hitherto, many techniques have been developed for the problem of reducing the chattering phenomenon in the literature such as boundary layer, and integral compensation controller . More recently, the application of SMC is also extended to MJSs (see related works).…”

Section: Introductionmentioning

confidence: 99%

Integrated fault estimation and fault‐tolerant control for uncertain time‐varying delay nonlinear Markovian jump systems

2018

Intl J Robust & Nonlinear

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Summary This paper investigates the issues of fault estimation and fault‐tolerant control for a class of uncertain time‐varying delay nonlinear Markovian jump systems with simultaneous actuator and sensor faults. Firstly, by analyzing and reformulating the original system, a Markovian robust sliding‐mode observer is introduced to provide simultaneous estimations of the state and faults. Secondly, a novel stochastic integral sliding surface function is designed, and the sufficient criteria is derived in terms of linear matrix inequalities, which guarantees that the sliding‐mode dynamics and error system are asymptotically stable with definite appointed H∞ performance disturbance attenuation level. Then, a robust sliding‐mode control law scheme is sought to ensure the reachability of the sliding surface in a finite time interval. Finally, the effectiveness of the proposed methodology is verified by numerical and practical examples.

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Sliding-mode repetitive learning control with integral sliding-mode perturbation compensation

Cited by 14 publications

References 24 publications

An Improved Sliding‐Mode Repetitive Learning Control Scheme Using Wavelet Transform

An Improved Sliding‐Mode Repetitive Learning Control Scheme Using Wavelet Transform

Discrete terminal sliding mode repetitive control for a linear actuator with nonlinear friction and uncertainties

Integrated fault estimation and fault‐tolerant control for uncertain time‐varying delay nonlinear Markovian jump systems

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