Predictive-repetitive control with constraints: From design to implementation |
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Authors: | Liuping Wang Chris T Freeman Shan Chai Eric Rogers |
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Affiliation: | 1. School of Electrical and Computer Engineering, RMIT University, Melbourne, Victoria 3000, Australia;2. Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK |
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Abstract: | This paper addresses the design and implementation of predictive-repetitive control systems, including the case when constraints are imposed. The approach is based on a frequency response decomposition technique that detects the dominant frequency components of the reference signals and embeds them in the predictive-repetitive controller. Analysis and design make use of the frequency response of the closed-loop system and the choice of the structure of the repetitive controller is considered as a balance between the reduction of tracking errors and minimization of the effects on performance of unwanted elements, such as model uncertainty. The implementation of operational constraints on the amplitudes of the control signals, their increments and on the outputs is considered using an on-line solution constructed using quadratic programming and the identification of active constraints. Experimental results from application to a 2 degree-of-freedom robotic system are used to illustrate the design and implementation procedures developed. |
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Keywords: | Repetitive predictive control Frequency sampling filter Model predictive control Robotic arm experiments |
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