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Repetitive Control for Systems with Time-Delays and Application to Robotic Servo Motor

  • Jing Na
  • Xuemei Ren
  • Ramon Costa-Castelló
  • Robert Griñó
  • Yu Guo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method.

Keywords

Time-delay systems repetitive control periodic signals 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jing Na
    • 1
  • Xuemei Ren
    • 2
  • Ramon Costa-Castelló
    • 3
  • Robert Griñó
    • 3
  • Yu Guo
    • 1
  1. 1.Faculty of Mechanical & Electrical EngineeringKunming University of Science and TechnologyKunmingChina
  2. 2.School of AutomationBeijing Institute of TechnologyBeijingP.R. China
  3. 3.Institute of Industrial and Control EngineeringUniversitat Politècnica de Catalunya (UPC)BarcelonaSpain

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