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Observer-based predictive repetitive control with experimental validation

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.
2405-8963
3674-3679
Wang, Liuping
d3cd762e-6708-4126-89e5-97926bf347c9
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
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), 3674-3679. (doi:10.1016/j.ifacol.2017.08.560).

Record type: Article

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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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, 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
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 06 May 2017 01:06
Last modified: 20 Jul 2019 04:24

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