Design of Observer-Based Robust Repetitive-Control System

摘要：

Repetitive control, a distinctive control method with a human-like learning capability, is of both theoretical and practical importance. This paper deals with the problem of designing a robust observer-based repetitive-control system that provides a given H∞ steady-state disturbance-attenuation performance for a class of plants with time-varying structured uncertainties. A continuous-discrete two-dimensional hybrid model is built that accurately describes the features of repetitive control so as to enable independent adjustment of the control and learning actions. A sufcient condition for the repetitivecontrol system to have a steady-state disturbance-attenuation bound in the H∞ setting is given in terms of a linear matrix inequality. The condition is then used to obtain the parameters of the repetitive controller and the state observer. Finally, a numerical example demonstrates the effectiveness of the method.

作者: Lan Zhou Min Wu Jin-Hua She

作者单位: School of Information Science and Engineering,Central South University,Changsha,Hunan,410083 China G School of Information Science and Engineering,Central South University,Changsha,Hunan,410083 China School of Computer Science,Tokyo University of Technology,1404-1 Katakura,Hachioji,Tokyo,192-0982 Ja

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2079-2084

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）