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

Author
Na, Jing; Costa-Castelló, R.; Griño, R.; Guo, Y.; Ren, X.
Type of activity
Presentation of work at congresses
Name of edition
TAROS 2012 - 13th Annual Conference on Towards Autonomous Robotic Systems
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Lecture Notes in Computer Science
First page
377
Last page
389
DOI
https://doi.org/10.1007/978-3-642-32527-4_34 Open in new window
Repository
http://hdl.handle.net/2117/17580 Open in new window
Abstract
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 ...
Citation
Na, J. [et al.]. Repetitive control for systems with time-delays and application to robotic servo motor. A: Annual Conference on Towards Autonomous Robotic Systems. "Lecture Notes in Computer Science". 2012, p. 377-389.
Keywords
Industrial robotics, Internal models, Modeling uncertainties, Periodic disturbances, Periodic reference signals, Periodic signal, Proportional control, Repetitive control, Robustness analysis, Stability condition, Time-delay systems
Group of research
ACES - Advanced Control of Energy Systems
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants