Disturbance-observer-based repetitive control with sliding modes

Y. S. Lu, C. M. Cheng

研究成果: 會議貢獻類型會議論文同行評審

6 引文 斯高帕斯(Scopus)

摘要

This paper proposes a sliding repetitive control (SRC) scheme based on sliding disturbance observers (SDOB) 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 desired error dynamics; 2) SDOB-based feedback compensation as the robust part; and 3) a learning feedforward component that gradually takes the place of the SDOB-based feedback compensation, and refines the control to improve system performance through repetitive trials. The SDOB-based feedback compensation ensures acceptably small tracking error during initial learning trials and enhances system insensitivity to exceptional and aperiodic disturbances. The learning compensation is updated according to a switching signal that is equivalent to the error of the feedforward compensation, yielding fast convergence of the learning process from trial to trial Because the switching actions to ensure global existence of a sliding mode take place in the controller instead of the plant, the proposed scheme thus alleviates the chatter problem often encountered in conventional sliding-mode controls.

原文英語
頁面1360-1365
頁數6
出版狀態已發佈 - 2005 十一月 16
事件Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, 美国
持續時間: 2005 七月 242005 七月 28

其他

其他Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
國家美国
城市Monterey, CA
期間2005/07/242005/07/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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