Show simple item record

dc.contributor.authorNa, Jing
dc.contributor.authorRen, Xuemei
dc.contributor.authorCosta Castelló, Ramon
dc.contributor.authorGuo, yu
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationNa, J. [et al.]. Repetitive control of servo systems with time delays. "Robotics and autonomous systems", Març 2014, vol. 62, núm. 3, p. 319-329.
dc.description.abstractIn many industrial robotic servo applications there is a need to track periodic reference signals and/or reject periodic disturbances. Moreover, time-delays are usually unavoidable in control systems due to the sensoring and communication delays. This paper presents an alternative repetitive control design for systems with constant time-delays in both forward and feedback control channels, which are dedicated to track/reject periodic signals. An additional delay is introduced together with the plant delays to construct an internal model for periodic signals, and a simple compensator based on the plant model inverse is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis against modeling uncertainties are studied. The proposed idea is further extended for general time-delay systems with only a delay term in the forward control channel. The
dc.format.extent11 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Control systems
dc.subject.otherDisturbance rejection
dc.subject.otherPeriodic signals
dc.subject.otherRepetitive control
dc.subject.otherTurntable servo systems
dc.titleRepetitive control of servo systems with time delays
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (published version)
local.citation.authorNa, J.; Ren, X.; Costa-Castelló, R.; Guo, Y.
local.citation.publicationNameRobotics and autonomous systems

Files in this item


This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder