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Predictive-repetitive Control with Constraints: from Design to Implementation

Predictive-repetitive Control with Constraints: from Design to Implementation
Predictive-repetitive Control with Constraints: from Design to Implementation
This paper addresses the design and implementation issues of predictive-repetitive control systems with constraints. Based on the recent results by the authors, which use a frequency response decomposition technique to detect the dominant frequency components in the reference signals and embeds these components in the predictive-repetitive controller, the paper will further analyze the design technique via the frequency response of the closed-loop system. The structure determination of a repetitive controller is proposed in balance between the reduction of tracking errors, minimization of effects of disturbance,
attenuation of measurement noise and model uncertainty. As the framework is based on predictive control, implementation of operational constraints, including constraints on control signal amplitude and increment
and on the plant outputs, is discussed, where an on-line solution is proposed using a quadratic programming via identification of active constraints. Experimental results on a 2-D robotic system are used to demonstrate the design and implementation procedures discussed in the paper.
0959-1524
956-967
Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chai, Shan
15e004b5-b6d6-4316-8a64-0427fd4a527b
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Chai, Shan
15e004b5-b6d6-4316-8a64-0427fd4a527b
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72

Wang, Liuping, Freeman, C T, Chai, Shan and Rogers, E (2013) Predictive-repetitive Control with Constraints: from Design to Implementation. Journal of Process Control, 23, 956-967.

Record type: Article

Abstract

This paper addresses the design and implementation issues of predictive-repetitive control systems with constraints. Based on the recent results by the authors, which use a frequency response decomposition technique to detect the dominant frequency components in the reference signals and embeds these components in the predictive-repetitive controller, the paper will further analyze the design technique via the frequency response of the closed-loop system. The structure determination of a repetitive controller is proposed in balance between the reduction of tracking errors, minimization of effects of disturbance,
attenuation of measurement noise and model uncertainty. As the framework is based on predictive control, implementation of operational constraints, including constraints on control signal amplitude and increment
and on the plant outputs, is discussed, where an on-line solution is proposed using a quadratic programming via identification of active constraints. Experimental results on a 2-D robotic system are used to demonstrate the design and implementation procedures discussed in the paper.

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Published date: 2013
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 344295
URI: http://eprints.soton.ac.uk/id/eprint/344295
ISSN: 0959-1524
PURE UUID: 16809280-656d-474a-b844-f7a398c015a2
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 16 Oct 2012 23:20
Last modified: 22 Oct 2019 00:56

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