Observer-based predictive repetitive control with experimental validation
Observer-based predictive repetitive control with experimental validation
This paper develops a new method for the design of predictive repetitive control systems to track periodic reference signals or reject disturbances with bandlimited frequency content. In this new design, any input disturbances present are estimated using an observer. This approach is complementary to the predictive repetitive control system designs previously reported where the periodic disturbance model was embedded in the controller. Supporting experimental results from application of the new design to a two joint robotic arm are given.
3674-3679
Wang, Liuping
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Freeman, Christopher
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Rogers, Eric
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Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Liuping, Freeman, Christopher and Rogers, Eric
(2017)
Observer-based predictive repetitive control with experimental validation.
IFAC-PapersOnLine, 50 (1), .
(doi:10.1016/j.ifacol.2017.08.560).
Abstract
This paper develops a new method for the design of predictive repetitive control systems to track periodic reference signals or reject disturbances with bandlimited frequency content. In this new design, any input disturbances present are estimated using an observer. This approach is complementary to the predictive repetitive control system designs previously reported where the periodic disturbance model was embedded in the controller. Supporting experimental results from application of the new design to a two joint robotic arm are given.
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PRC_obser_CF211016
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PRC_obser_CF211016
- Accepted Manuscript
More information
Accepted/In Press date: 27 February 2017
e-pub ahead of print date: 18 October 2017
Venue - Dates:
IFAC 2017 World Congress, The 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 2017-07-09 - 2017-07-14
Organisations:
Vision, Learning and Control, EEE
Identifiers
Local EPrints ID: 408007
URI: http://eprints.soton.ac.uk/id/eprint/408007
ISSN: 2405-8963
PURE UUID: b08a213b-91d4-46bf-b363-1ca80fe3ea1e
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Date deposited: 06 May 2017 01:06
Last modified: 11 Dec 2024 02:39
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Contributors
Author:
Liuping Wang
Author:
Christopher Freeman
Author:
Eric Rogers
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