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Repetitive-predictive control of a robot arm with constraints

Repetitive-predictive control of a robot arm with constraints
Repetitive-predictive control of a robot arm with constraints
A multivariable predictive-repetitive controller was developed by the authors in their recent work, which uses a frequency response decomposition technique to detect the dominant frequency components in the reference signals and embeds these components in the predictive-repetitive controller. This paper presents new experimental results on a robot arm configured as a two inputs and two outputs system, which demonstrate the closed-loop performance of the predictive-repetitive control system in terms of reference trajectory following, disturbance rejection andmeasurement noise attenuation. Furthermore, it is shown that the bandwidth of the predictive repetitive control system is strongly depending on the number of frequencies embedded in the design. The larger the number of frequencies, the wider the bandwidth of the closed-loop system. As a result of wider bandwidth, measurement noise is amplified and unmodelled dynamics in the higher frequency band could cause the closed-loop system to become unstable.
repetitive predictive control, frequency sampling filter, robot arm
5495-5500
Wang, L.
ff28fc9d-dbeb-460f-943c-f49997f58bf7
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chai, S.
07d20a54-c007-47d0-b87f-b1a7c8513038
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, L.
ff28fc9d-dbeb-460f-943c-f49997f58bf7
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chai, S.
07d20a54-c007-47d0-b87f-b1a7c8513038
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72

Wang, L., Freeman, C.T., Chai, S. and Rogers, E. (2012) Repetitive-predictive control of a robot arm with constraints. 2012 American Control Conference (ACC 2012), Canada. 27 - 29 Jun 2012. pp. 5495-5500 .

Record type: Conference or Workshop Item (Paper)

Abstract

A multivariable predictive-repetitive controller was developed by the authors in their recent work, which uses a frequency response decomposition technique to detect the dominant frequency components in the reference signals and embeds these components in the predictive-repetitive controller. This paper presents new experimental results on a robot arm configured as a two inputs and two outputs system, which demonstrate the closed-loop performance of the predictive-repetitive control system in terms of reference trajectory following, disturbance rejection andmeasurement noise attenuation. Furthermore, it is shown that the bandwidth of the predictive repetitive control system is strongly depending on the number of frequencies embedded in the design. The larger the number of frequencies, the wider the bandwidth of the closed-loop system. As a result of wider bandwidth, measurement noise is amplified and unmodelled dynamics in the higher frequency band could cause the closed-loop system to become unstable.

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Published date: 27 June 2012
Venue - Dates: 2012 American Control Conference (ACC 2012), Canada, 2012-06-27 - 2012-06-29
Keywords: repetitive predictive control, frequency sampling filter, robot arm
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 340082
URI: http://eprints.soton.ac.uk/id/eprint/340082
PURE UUID: 83a24631-aa0b-4fc8-97c3-f6ace79602ad
ORCID for E. Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 09 Jun 2012 22:15
Last modified: 20 Jul 2019 01:23

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Contributors

Author: L. Wang
Author: C.T. Freeman
Author: S. Chai
Author: E. Rogers ORCID iD

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