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Disturbance observer-based predictive repetitive control with constraints

Disturbance observer-based predictive repetitive control with constraints
Disturbance observer-based predictive repetitive control with constraints
This paper develops an observer-based predictive repetitive control system to track periodic reference signals or reject disturbances with bandlimited frequency content. The new design complements existing approaches to predictive control, where a model of the periodic disturbance is embedded in the controller. In particular, the new design, based on a novel combination of repetitive control and a disturbance observer, results in a significant improvement in design transparency and implementation simplicity. Although the design is undertaken using a state-space-model, frequency response analysis based on the sensitivity and complementary functions is used to demonstrate the characteristics of the repetitive control system for disturbance rejection, reference following and measurement noise attenuation. Moreover, operational constraints can be included in the design for applications where this feature is required. Simulation studies are given to highlight the closed-loop performance achievable in the presence of constraints. Experimental validation results from application to a two-joint robotic arm are also given and discussed.
0020-3270
Wang, Liuping
d15d370d-5565-44f4-a141-ce556e0be9f7
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Wang, Liuping
d15d370d-5565-44f4-a141-ce556e0be9f7
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Wang, Liuping, Freeman, Christopher and Rogers, Eric (2020) Disturbance observer-based predictive repetitive control with constraints. International Journal of Control. (doi:10.1080/00207179.2020.1839674).

Record type: Article

Abstract

This paper develops an observer-based predictive repetitive control system to track periodic reference signals or reject disturbances with bandlimited frequency content. The new design complements existing approaches to predictive control, where a model of the periodic disturbance is embedded in the controller. In particular, the new design, based on a novel combination of repetitive control and a disturbance observer, results in a significant improvement in design transparency and implementation simplicity. Although the design is undertaken using a state-space-model, frequency response analysis based on the sensitivity and complementary functions is used to demonstrate the characteristics of the repetitive control system for disturbance rejection, reference following and measurement noise attenuation. Moreover, operational constraints can be included in the design for applications where this feature is required. Simulation studies are given to highlight the closed-loop performance achievable in the presence of constraints. Experimental validation results from application to a two-joint robotic arm are also given and discussed.

Text
Disturbance observer-based predictive repetitive control with constraints - Accepted Manuscript
Restricted to Repository staff only until 22 November 2021.
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More information

Accepted/In Press date: 19 September 2020
e-pub ahead of print date: 22 November 2020

Identifiers

Local EPrints ID: 446225
URI: http://eprints.soton.ac.uk/id/eprint/446225
ISSN: 0020-3270
PURE UUID: 868b5111-06fc-4bc5-ad44-9e43aff6f87b
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 29 Jan 2021 17:31
Last modified: 17 Mar 2021 02:33

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