Sliding-mode repetitive learning control with integral sliding-mode perturbation compensation

Yu-Shen Lu, Xuan Wen Wang

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

This paper proposes a sliding-mode repetitive learning control (SMRLC) scheme with an integral sliding-mode perturbation observer (ISMPO) for repetitive tracking control tasks. The three control strategies which are synthesized to yield excellent tracking performance are: (1) the pole-placement feedback control to specify the desired error dynamics; (2) ISMPO-based feedback compensation as the robust part; and (3) a feedforward learning component that refines the control to improve system performance through repetitive trials. The ISMPO-based feedback compensation ensures that there is only small tracking error during initial learning trials and enhances system insensitivity to exceptional and aperiodic disturbances. The feedforward learning compensation is updated according to a certain switching signal that is equivalent to the compensation error of the feedforward control, yielding fast convergence of the learning process from trial to trial. Experimental results demonstrate the feasibility of the proposed scheme.

Original languageEnglish
Pages (from-to)156-165
Number of pages10
JournalISA Transactions
Volume48
Issue number2
DOIs
Publication statusPublished - 2009 Jan 1

Fingerprint

Repetitive Control
Learning Control
Sliding Mode
learning
sliding
Perturbation
Observer
perturbation
Feedforward
Feedback
Error Compensation
Feedforward Control
Pole Placement
Error compensation
Insensitivity
Feedforward control
feedforward control
Tracking Control
Learning Process
Feedback Control

Keywords

  • Learning control
  • Perturbation observer
  • Repetitive control
  • Sliding mode

ASJC Scopus subject areas

  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

Sliding-mode repetitive learning control with integral sliding-mode perturbation compensation. / Lu, Yu-Shen; Wang, Xuan Wen.

In: ISA Transactions, Vol. 48, No. 2, 01.01.2009, p. 156-165.

Research output: Contribution to journalArticle

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