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Design of a Robust Discrete-time Phase Lead Repetitive Control in Frequency Domain for a Linear Actuator with Multiple Phase Uncertainties

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  • Control Theory and Applications
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Abstract

This paper presents a simple and effective design of a discrete-time repetitive control (RC) in frequency domain. Unlike existing phase lead RC designs, the proposed approach provides flexible phase lag compensation at multiple frequencies, which ensures improved tracking performance and robustness against system uncertainties over a wide bandwidth. The proposed design is applied to a linear actuator (LA) with friction and payload variations. The robust stability analysis presented in this study demonstrates the effectiveness of the proposed method in the presence of multiple system uncertainties. Both simulation and experimental results validate the improvement. While, the comparison study shows the superiority of the proposed approach.

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Authors and Affiliations

  1. School of Software Engineering, Faculty of Science, Engineering and Technology, Swinburne University of Technology, John Street, Hawthorn, Victoria, 3122, Australia

    Maria Mitrevska, Zhenwei Cao, Jinchuan Zheng & Zhihong Man

  2. Research Center for Physics, Indonesian Institutes of Sciences, Kawasan Puspiptek Serpong, Tangsel, Banten, 15314, Indonesia

    Edi Kurniawan

Authors
  1. Maria Mitrevska
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  2. Zhenwei Cao
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  3. Jinchuan Zheng
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  4. Edi Kurniawan
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  5. Zhihong Man
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Corresponding author

Correspondence to Maria Mitrevska.

Additional information

Recommended by Associate Editor Jiuxiang Dong under the direction of Editor PooGyeon Park.

Maria Mitrevska received the B.E. and B.S. degrees in Robotics and Mechatronics engineering, and computer science and software engineering from Swinburne University of Technology, in 2013, and the Ph.D. degree in electrical engineering at Swinburne University of Technology in 2018. Her current research interests include artificial intelligence, learning control, robust control, sliding mode control, robotics, and mechatronics.

Zhenwei Cao received the B.S. and M.E. degrees from the Southeast University, Nanjing, China in 1985 and 1988, respectively, and the Ph.D. degree from the University of Newcastle, Australia, in 2001, all in electrical engineering. She is currently an Associate Professor in the Faculty of Science, Engineering and Technology, Swinburne University of Technology, Australia. Her current research interests include robotics, mechatronics, control and automation.

Jinchuan Zheng received the B.Eng. and M.Eng. degrees in mechatronics engineering from Shanghai Jiao Tong University, Shanghai, China, in 1999 and 2002, respectively, and the Ph.D. degree in electrical and electronic engineering from Nanyang Technological University, Singapore, in 2006. In 2005, he joined the Australian Research Council (ARC), Centre of Excellence for Complex Dynamic Systems and Control, School of Electrical and Computer Engineering, University of Newcastle, Callaghan, Australia, as a Research Academic. From 2011 to 2012, he was a Staff Engineer with the Western Digital Hard Disk Drive R/D Center, Singapore. Currently, he is serving as a Senior Lecturer at Swinburne University of Technology, Melbourne, Australia. His research interests include mechanism design and control of high-precision mechatronic systems, sensing and vibration analysis, dual-stage actuation, and vision-based control.

Edi Kurniawan received the B.Eng. degree from Gadjah Mada University, Yogyakarta, Indonesia in 2003 and the M.Eng. degree from the University of Adelaide, Australia in 2009, both in electrical and electronics engineering. He received the Ph.D. degree in control system from Swinburne University of Technology, Hawthorn, Australia in 2013. He is currently a senior researcher at Research Center for Physics, Indonesian Institutes of Sciences, Serpong, Indonesia. His research interests include learning control, robust control, adaptive control, speech recognition, image processing, and Optoelectronics.

Zhihong Man received the B.E. degree from Shanghai Jiaotong University, Shanghai, China, in 1982, the M.Sc. degree from the Chinese Academy of Sciences, Beijing, China, in 1987, and the Ph.D. degree from the University of Melbourne, VIC, Australia, in 1994. From 1994 to 1996, he was a Lecturer with the School of Engineering, Edith Cowan University, Joondalup, WA, Australia. From 1996 to 2001, he was a Lecturer and then a Senior Lecturer with the School of Engineering, University of Tasmania, Hobart, TAS, Australia. From 2002 to 2007, he was an Associate Professor of Computer Engineering, Nanyang Technological University, Singapore. From 2007 to 2008, he was a Professor and the Head of Electrical and Computer Systems Engineering, Monash University Sunway Campus, Subang Jaya, Malaysia. Since 2009, he has been with the Swinburne University of Technology, Melbourne, as a Professor of Engineering. His current research interests include nonlinear control, signal processing, robotics, neural networks, and vehicle dynamics and control.

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Mitrevska, M., Cao, Z., Zheng, J. et al. Design of a Robust Discrete-time Phase Lead Repetitive Control in Frequency Domain for a Linear Actuator with Multiple Phase Uncertainties. Int. J. Control Autom. Syst. 16, 2609–2620 (2018). https://doi.org/10.1007/s12555-017-0208-x

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  • DOI: https://doi.org/10.1007/s12555-017-0208-x

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