2001 Fiscal Year Final Research Report Summary
A New Methodology for Rejection Non-periodic disurbances in Repetitive Control Systems
| Project/Area Number |
12650454
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | TAKUSHOKU UNIVERSITY |
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Principal Investigator |
NAKANO Michc Takushoku University, Dept of Mechanical Sys Eng, Professor, 工学部, 教授 (80016451)
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| Co-Investigator(Kenkyū-buntansha) |
SHE Jin-Hua Tokyo Univ of Tech, Dept of Mechatronics, Associate Prof, 工学部, 助教授 (10257264)
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| Project Period (FY) |
2000 – 2001
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| Keywords | Repetitive Control / Disyrbance Estimation / Disyrbance Rejection / A Circle of Curvature / Nonlinear Estimation / VSS Control / Globally Uniformly Uitimately Bounded / Lyapunov Function |
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| Research Abstract |
This study presents a new design method for repetitive control that employs discrete-time variable structure (VS) control algorithm and disturbance estimation based on a curvature model. First, an extended system containing an internal model of repetitive control is derived. Based on that, a sliding mode and a sliding sector are designed. Then a variable structure control law is designed so that the state converges inside the sliding sector. It ensures that there exists a Lyapunov function that decreases monotonically in the state space. Thus the system is asymptotically stable. Simulation results show that the proposed control system provides good performance. In order to improve the rejection performance of disturbances in a repetitive control system, a disturbance estimation method based on a curvature model is proposed. The main feature is that the stability of the repetitive control system is guaranteed when the estimated disturbance is incorporated directly into the designed repetitive control law. Simulation and experimental results show that disturbances are rejected efficiently when this approach is used.
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