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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Design of a robust observer-based modified repetitive-control system.

Lan Zhou¹, Jinhua She, Min Wu

¹School of Information Science and Engineering, Central South University, Changsha 410083, China. zlly98@yahoo.cn

ISA Transactions

|February 16, 2013

Summary

This study introduces a robust control system for plants with time-varying uncertainties. The novel method ensures stability and effective learning for periodic disturbances using advanced control techniques.

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Area of Science:

Control Systems Engineering
Robotics
Automation

Background:

Periodic time-varying uncertainties pose significant challenges in control system design.
Repetitive control (RC) systems offer potential for handling periodic disturbances but require robust design methodologies.

Purpose of the Study:

To design a robust observer-based modified repetitive-control system for strictly proper plants with periodic time-varying uncertainties.
To convert the control design problem into a robust stabilization problem for a two-dimensional system.

Main Methods:

Exploiting the structure of repetitive control.
Formulating the problem as a robust stabilization task for a continuous-discrete two-dimensional system.
Utilizing singular-value decomposition and Lyapunov stability theory.
Deriving a linear-matrix-inequality (LMI)-based design algorithm for control and observer gains.

Main Results:

A robust observer-based modified repetitive-control system was successfully designed.
The LMI-based algorithm provides a systematic approach to determine control and observer gains.
Two tuning parameters allow for preferential adjustment of control and learning.
A numerical example validated the effectiveness and adjusting procedure of the proposed method.

Conclusions:

The proposed method offers a robust solution for controlling systems with periodic uncertainties.
The observer-based repetitive control strategy effectively addresses time-varying disturbances.
The LMI-based design ensures stability and facilitates practical implementation.