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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.date.accessioned2014-03-31T08:03:30Z
dc.date.created2014-03
dc.date.issued2014-03
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.identifier.issn0921-8890
dc.identifier.urihttp://hdl.handle.net/2117/22443
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.language.isoeng
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.otherTime-delay
dc.subject.otherTurntable servo systems
dc.titleRepetitive control of servo systems with time delays
dc.typeArticle
dc.subject.lemacRobots -- Sistemes de control
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.identifier.doi10.1016/j.robot.2013.09.010
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac13851859
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorNa, J.; Ren, X.; Costa-Castelló, R.; Guo, Y.
local.citation.publicationNameRobotics and autonomous systems
local.citation.volume62
local.citation.number3
local.citation.startingPage319
local.citation.endingPage329


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