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.
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Na, J., Ren, X., Costa-Castelló, R., Griñó, R., Guo, Y. (2012). Repetitive Control for Systems with Time-Delays and Application to Robotic Servo Motor. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_34
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DOI: https://doi.org/10.1007/978-3-642-32527-4_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32526-7
Online ISBN: 978-3-642-32527-4
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