Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control

Mandra, Slawomir; Gałkowski, Krzysztof; Aschemann, Harald

doi:10.1016/j.conengprac.2017.05.004

Cited by 33 publications

(22 citation statements)

References 21 publications

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“…The new contributions in this paper are: i) integral action to compensate for unknown constant or slowly varying disturbances on the trial, where the control action is applied on the trial in which they first appear, rather than on subsequent trials in other designs, ii) feedforward control action to reduce initial tracking errors in the early learning phase and iii) allows for plants with relative degree greater than unity unlike the alternative design in [5].…”

Section: Introductionmentioning

confidence: 99%

Performance-Enhanced Robust Iterative Learning Control With Experimental Application to PMSM Position Tracking

Mandra

Gałkowski

Rogers

et al. 2019

IEEE Trans. Contr. Syst. Technol.

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Section: Introductionmentioning

confidence: 99%

Performance-Enhanced Robust Iterative Learning Control With Experimental Application to PMSM Position Tracking

Mandra

Gałkowski

Rogers

et al. 2019

IEEE Trans. Contr. Syst. Technol.

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“…7,8 Along with the development of nonlinear theory, various effective control theories have already been investigated for the position servo system of PMSM, such as sliding mode control, fuzzy-sliding mode control, nonlinear sliding mode control, passivity-based control (PBC), adaptive control, predictive functional control, explicit model predictive control, iterative learning control, robust control, and recurrent Elman neural network. [9][10][11][12][13][14][15][16][17][18][19] However, the above-mentioned advanced control methods have the merits and drawbacks, respectively, which can significantly improve the robustness of control system, but at the expense of its motion accuracy. For instance, the robustness of sliding mode control comes at the cost of the well-known chattering and the phase delay.…”

Section: Introductionmentioning

confidence: 99%

Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Wang

Hou

et al. 2018

Advances in Mechanical Engineering

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In order to achieve high motion accuracy and better robustness of the rocket launcher position servo system driven by a permanent magnet synchronous motor, a passivity-based controller based on improved active disturbance rejection control is proposed in this article. The convenient method of interconnection and damping assignment and passivitybased control is adopted to establish the port-controlled Hamiltonian system with dissipation model of permanent magnet synchronous motor. To further enhance the robustness and adaptability of the traditional active disturbance rejection controller, an improved active disturbance rejection control strategy-based radical basis function neural network is introduced to on-line update the proportional and derivative gains of improved active disturbance rejection controller. The results of numerical simulation and bench test indicate that the proposed improved active disturbance rejection control passivity-based control algorithm has advantages of smaller overshoot, fast response, small steady-state error, and strong robustness. It proves that the proposed control scheme is effective and suitable.

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“…In the case of discrete linear dynamics, there are many methods for the ILC design. Recently, an innovative ILC law which was augmented by a state feedback controller with a dynamic feedforward controller was developed in [30,31]. The experimental results show that feedforward control can improve tracking accuracy significantly.On the other hand, for many control systems, when a system is dependent on uncertain parameters it is desirable to design a control system that is not only asymptotically stable, but also guarantees an adequate level of control performance.…”

mentioning

confidence: 99%

mentioning

confidence: 99%

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

2019

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In this paper, a robust guaranteed-cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, a repetitive controller, combined with preview compensator, is inserted in the forward channel. By using the L-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed-cost preview repetitive control problem is transformed into a guaranteed-cost control problem for the augmented dynamic system. For a given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by using a parameter-dependent Lyapunov function method and linear matrix inequality (LMI) techniques. Incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included, to show the effectiveness of the proposed method.

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Robust guaranteed cost ILC with dynamic feedforward and disturbance compensation for accurate PMSM position control

Cited by 33 publications

References 21 publications

Performance-Enhanced Robust Iterative Learning Control With Experimental Application to PMSM Position Tracking

Performance-Enhanced Robust Iterative Learning Control With Experimental Application to PMSM Position Tracking

Passivity-based control for rocket launcher position servo system based on improved active disturbance rejection technology

Robust Guaranteed-Cost Preview Repetitive Control for Polytopic Uncertain Discrete-Time Systems

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