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

Autor
Na, Jing; Costa-Castelló, R.; Griño, R.; Guo, Y.; Ren, X.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
TAROS 2012 - 13th Annual Conference on Towards Autonomous Robotic Systems
Any de l'edició
2012
Data de presentació
2012
Llibre d'actes
Lecture Notes in Computer Science
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/2117/17580 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
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.
Paraules clau
Industrial robotics, Internal models, Modeling uncertainties, Periodic disturbances, Periodic reference signals, Periodic signal, Proportional control, Repetitive control, Robustness analysis, Stability condition, Time-delay systems
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Sistemes Avançats de Control

Participants