this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

Repetitive controllers are generally applied to reject periodic disturbances and to track periodic reference signals with a known period. Their design is based on The Internal Model Principle, proposed by Francis and Wonham. This paper describes a new finite-dimensional SISO repetitive controller for two different classes of nonlinear plants. Simulation results show asymptotic tracking of the p...

In this paper a repetitive control (RC) approach to improve current sharing between parallel-connected boost converters in DC microgrids is presented. The impact of changes in line impedance on current sharing is investigated. A repetitive controller is designed and connected in series with current controller of the boost converters to control the switching signals such that by regulating of th...