Comparison of Repetitive Control Schemes
نویسنده
چکیده
X nx1 system state matrix A nxn state transition matrix (possible time varying) Bnxm input matrix (possibly time varying) U mx1 input of system inputs Uideal mx1 matrix defining the input required to force perfect tracking. Xref nx1 matrix defining the path the states are to follow, periodic in time T. T The period of the repetitive motion: Xref(t)=Xref(t+T) W(t) Basis function for determining the ideal input. K Weightings of the basis function that produce the ideal input Estimates of K obtained from a repetitive control law. K
منابع مشابه
Repetitive and adaptive control of robot manipulators with velocity estimation
This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...
متن کاملRepetitive and Adaptive Control of Robot Manipulators with Velocity Estimation - Robotics and Automation, IEEE Transactions on
This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...
متن کاملA Survey of Repetitive Control for Nonlinear Systems
In aerospace engineering and industry, control tasks are often of a periodic nature, while repetitive control is especially suitable for tracking and rejection of periodic exogenous signals. Because of limited research effort on nonlinear systems, we give a survey of repetitive control for nonlinear systems in this paper. First, a brief introduction of repetitive control is presented. Then, aft...
متن کاملPerformance Comparison of Predictive Controllers in Optimal and Stable Operation of Wastewater Treatment Plants
Any proper operation could be translated as a constrained optimization problem inside a WWTP, whose nonlinear behavior renders its control problems quite attractive for performance of multivariable optimization–based control technique algorithms, such as NMPC. The main advantage of this control technique lies in its ability to handle model nonlinearity as well as various types of constraints on...
متن کاملThe comparison of two high-order semi-discrete central schemes for solving hyperbolic conservation laws
This work presents two high-order, semi-discrete, central-upwind schemes for computing approximate solutions of 1D systems of conservation laws. We propose a central weighted essentially non-oscillatory (CWENO) reconstruction, also we apply a fourth-order reconstruction proposed by Peer et al., and afterwards, we combine these reconstructions with a semi-discrete central-upwind numerical flux ...
متن کامل