REPETITIVE CONTROL FOR A CLASS OF NONLINEAR-SYSTEMS

被引：9

作者：

HIKITA, H

YAMASHITA, M

KUBOTA, Y

机构：

[1] Muroran Institute of Technology, Hokkaido 050, 27-1 Mizumoto-cho, Muroran

来源：

JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING | 1993年 / 36卷 / 04期

关键词：

AUTOMATIC CONTROL; ROBOTICS; REPETITIVE CONTROL; SLIDING MODE CONTROL; LEARNING CONTROL;

D O I：

10.1299/jsmec1993.36.430

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A repetitive control scheme which is applicable to a class of nonlinear systems with periodic reference signals is proposed. The nonlinear terms in the systems are assumed to be polynomially bounded. Sliding mode control is applied to an augmented system in which an integrator and a repetitive controller are combined in order to obtain a linear input-output relation. The stability condition for the repetitive control system realized by the proposed method is derived. It is shown that this system satisfies the internal model principle for a given frequency bandwidth. The frequency bandwidth is given by the stability condition. An illustrative example is given.

引用

页码：430 / 434

页数：5

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