带扰动补偿的无抖振离散重复控制器设计

针对周期离散系统的跟踪控制问题,提出一种有限时间单调收敛的无抖振吸引律,讨论扰动补偿措施并将其嵌入吸引律形成理想误差动态用于设计离散重复控制器.通过分析补偿误差上界说明扰动补偿措施能抑制重复控制未能消除的扰动,通过推导控制器稳态误差带说明吸引律的收敛性可使系统具有鲁棒稳定性.针对伺服电机系统的仿真与实验验证了设计工作的有效性.

Chatting-free discrete-time repetitive controller design with disturbance compensator

This paper studies the tracking control of periodic discrete-time system. A free-chatting attracking law and the methods of compensating disturbance are presented for designing the repetitive controller. The attracking law implanted in the controller drives the tracking error to origin monotonously in the finite time. The disturbance not eliminated by the repetitive controller is restricted in the upper bound of compensate errors. The steady state error band illustrates that the system is robust steady for the convergence of attracking law. Both simulation and experiments on the servo motor demonstrate the effectiveness of the repetitive controller design work.