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

Autor
J. Na; Ren, X.; Costa-Castelló, R.; Griño, R.; Guo, Y.
Tipus d'activitat
Article en revista
Revista
Lecture notes in computer science
Data de publicació
2012-08-20
Volum
7429
Pàgina inicial
377
Pàgina final
389
DOI
https://doi.org/10.1007/978-3-642-32527-4_34 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/26047 Obrir en finestra nova
Resum
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 ...
Citació
J. Na [et al.]. Repetitive control for systems with time-delays and application to robotic servo motor. "Lecture notes in computer science", 20 Agost 2012, vol. 7429, p. 377-389.
Paraules clau
Time-delay systems, periodic signals, repetitive control
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Sistemes Avançats de Control

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