Discrete time repetitive control for robot manipulators

Tsai, Mi-Ching; Anwar, G.; Tomizuka, Masayoshi

doi:10.1109/robot.1988.12254

Cited by 66 publications

(18 citation statements)

References 12 publications

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“…In literature, periodic signals with a known period T can be generated by a time delay block with a positive feedback loop [12]- [13]. With these systems, it is possible to track a periodic reference or reject periodic disturbances with the same fundamental frequency.…”

Section: Repetetive Controllermentioning

confidence: 99%

Repetitive scheme plugged-in parallel with Deadbeat controller for VFD fed by cascaded multilevel inverter

Trabelsi

Ben‐Brahim

Kawamura

et al. 2013

2013 IEEE Energy Conversion Congress and Exposition

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This paper proposes an experimental Real Time Digital Feedback Controller (RTDFBC) combined with a Repetitive technique to control a Variable Frequency Drive (VFD) fed by a cascaded Multi-Level Inverter (MLI). The proposed controller is Deadbeat type compensating for noncyclical disturbances while the repetitive controller compensates for cyclical fluctuations (Dead-time effect, DC voltage imbalance effect) by generating proper compensating d-q voltages. This digital control is characterized by a very fast transient response, low switching losses, and a proper compensation for load disturbances and cyclical fluctuations.Theoretical analysis, simulation, and experimental results are described in this paper.

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Section: Repetetive Controllermentioning

confidence: 99%

Repetitive scheme plugged-in parallel with Deadbeat controller for VFD fed by cascaded multilevel inverter

Trabelsi

Ben‐Brahim

Kawamura

et al. 2013

2013 IEEE Energy Conversion Congress and Exposition

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show abstract

“…Considering literature confirms that the discrete-time control has been developed to cover the nonlinear systems, as well. The discrete-time control of robotic manipulators was presented in various types such as sliding mode control [2], learning control [3], adaptive control [4] and [5]. In this paper, a discrete-time repetitive optimal control (DROC) is developed.…”

Section: Introductionmentioning

confidence: 99%

“…The control performance is related to how well the uncertainty is compensated. A discrete-time repetitive control scheme was presented using the computed-torque control link to overcome a part of uncertainty model [5]. The repetitive model reference adaptive control [6] and the adaptive repetitive learning control [7] can overcome the parametric uncertainty and the periodic external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time repetitive optimal control: Robotic manipulators

Fateh

Baluchzadeh²

2016

JAIDM

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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 permanent magnet dc motors in the current mode. The motor current is regulated using a proportional-integral controller. The novelty of this paper is a modification in using the discrete-time linear quadratic control for the robot manipulator, which is a nonlinear uncertain system. For this purpose, a novel discrete linear time-variant model is introduced for the robotic system. Then, a time-delay uncertainty estimator is added to the discrete-time linear quadratic control to compensate the nonlinearity and uncertainty associated with the model. The proposed control approach is verified by stability analysis. Simulation results show the superiority of the proposed discrete-time repetitive optimal control over the discrete-time linear quadratic control.

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“…Some of the initial work on repetitive learning control research for robotic systems was made by [1], [2], and [3]; where asymptotic convergence of the aforementioned control schemes can only be guaranteed under restrictive conditions on the plant dynamics. Later to enhance the robustness of [1], [2] modified the repetitive update rule to include the so-called Q-filter.…”

Section: Introductionmentioning

confidence: 99%

Lyapunov-based output feedback learning control of robot manipulators

Dogan

Tatlıcıoğlu

Zergeroğlu

et al. 2015

2015 American Control Conference (ACC)

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Abstract-This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for periodic trajectories with known period have been proposed. The proposed learning controller guarantees semi-global asymptotic tracking despite the existence of parametric uncertainties associated with the robot dynamics and lack of velocity measurements. A learningbased feedforward term in conjunction with a novel observer formulation is designed to obtain the aforementioned result. The stability of the controller-observer couple is guaranteed via Lyapunov based arguments. Numerical studies performed on a two link robot manipulator are also presented to demonstrate the viability of the proposed method.

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Discrete time repetitive control for robot manipulators

Cited by 66 publications

References 12 publications

Repetitive scheme plugged-in parallel with Deadbeat controller for VFD fed by cascaded multilevel inverter

Repetitive scheme plugged-in parallel with Deadbeat controller for VFD fed by cascaded multilevel inverter

Discrete-time repetitive optimal control: Robotic manipulators

Lyapunov-based output feedback learning control of robot manipulators

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