Observer-based Predictive Repetitive Control with Experimental Validation

Wang, L, Freeman, C and Rogers, E 2017, 'Observer-based Predictive Repetitive Control with Experimental Validation', IFAC-PapersOnLine, vol. 50, no. 1, pp. 3674-3679.

Document type: Journal Article
Collection: Journal Articles

Title Observer-based Predictive Repetitive Control with Experimental Validation
Author(s) Wang, L
Freeman, C
Rogers, E
Year 2017
Journal name IFAC-PapersOnLine
Volume number 50
Issue number 1
Start page 3674
End page 3679
Total pages 6
Publisher Pergamon Press
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.
Subject Electrical and Electronic Engineering not elsewhere classified
Keyword(s) disturbance estimation
repetitive predictive control
robot arm
DOI - identifier 10.1016/j.ifacol.2017.08.560
Copyright notice © 2017, IFAC (International Federation of Automatic Control)
ISSN 2405-8963
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