Finite Dimensional Internal Model-Based Repetitive Control of Nonlinear Passive Systems (CROSBI ID 528824)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Finite Dimensional Internal Model-Based Repetitive Control of Nonlinear Passive Systems
In this paper a new class of globally stable finite dimensional repetitive controllers for nonlinear passive systems is proposed. The passivity-based design of the proposed repetitive controller avoids the problem of tight stability conditions and slow convergence of the conventional, internal model-based, repetitive controllers. The existing internal and external model-based repetitive controllers can be derived as the special cases of the proposed controller. Also, it is possible a simple extension of the basic algorithm by an adaptive notch filter which provide asymptotic tracking of periodic signal with unknown signal frequency. The simulation results on a two degrees of freedom planar elbow manipulator illustrate the controller performances.
repetitive control; passive systems; passivity based control
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Podaci o prilogu
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 15th Mediterranean Conference on Control and Automation
978-960-254-664-2
Podaci o skupu
15th Mediterranean Conference on Control and Automation
predavanje
27.06.2007-29.06.2007
Atena, Grčka