Naslov
Finite Dimensional Internal Model-Based Repetitive Control of Nonlinear Passive Systems

Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 15th Mediterranean Conference on Control and Automation / - , 2007

ISBN
978-960-254-664-2

Skup
15th Mediterranean Conference on Control and Automation

Mjesto i datum
Atena, Grčka, 27.06.2007. - 29.06.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
repetitive control; passive systems; passivity based control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA