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Position-dependent disturbance rejection using spatial-based adaptive feedback linearization repetitive control
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DOI：10.1002/rnc.1382.png)
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In this paper, we propose a new design of spatial-based repetitive control for a class of rotary motion systems operating at variable speeds. The open-loop system in spatial domain is obtained by reformulating a nonlinear time-invariant system with respect to angular displacement. A two-degree-of-freedom control structure (comprising two control modules) is then proposed to robustly stabilize the open-loop system and improve the tracking performance. The first control module applies adaptive feedback linearization with projected parametric update and concentrates on robust stabilization of the closed-loop system. The second control module introduces a spatial-based repetitive controller cascaded with a loop-shaping filter, which not only further reduces the tracking error, but also improves parametric adaptation. The overall control system is robust to model uncertainties of the system and capable of rejecting position-dependent disturbances under varying process speeds. Stability proof for the overall system is given. A design example with Simulation is provided to demonstrate the applicability of the proposed design. Copyright (C) 2008 John Wiley & Sons, Ltd.
Keyword:
adaptive control
disturbance rejection
motion control
repetitive control
state feedback
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3.2
论文数:
7.0K
被引数:
1.4W
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