Título:
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Repetitive control of servo systems with time delays
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Autor/a:
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Na, Jing; Ren, Xuemei; Costa Castelló, Ramon; Guo, yu
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Otros autores:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia |
Abstract:
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In many industrial robotic servo applications there is a need to track periodic reference signals and/or reject periodic disturbances. Moreover, time-delays are usually unavoidable in control systems due to the sensoring and communication delays. This paper presents an alternative repetitive control design for systems with constant time-delays in both forward and feedback control channels, which are dedicated to track/reject periodic signals. An additional delay is introduced together with the plant delays to construct an internal model for periodic signals, and a simple compensator based on the plant model inverse is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis against modeling uncertainties are studied. The proposed idea is further extended for general time-delay systems with only a delay term in the forward control channel. The |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots -- Control systems -Disturbance rejection -Periodic signals -Repetitive control -Time-delay -Turntable servo systems -Robots -- Sistemes de control |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Artículo |
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