Design of Decentralized Multi-input Multi-output Repetitive Control Systems

被引：0
|
作者：
Edi Kurniawan [1 ,2 ]
Zhen-Wei Cao [1 ]
Maria Mitrevska [1 ]
Zhi-Hong Man [1 ]
机构：
[1] Faculty of Science Engineering and Technology,Swinburne University of Technology
[2] Department of Engineering Sciences,Indonesian Institute of Sciences
来源：
International Journal of Automation and Computing | 2016年 / 13卷 / 06期
关键词：
Repetitive control(RC); compensator; multi-input multi-output(MIMO); decentralized; optimization; two degrees of freedom robot;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
This paper presents the design of decentralized repetitive control(RC) for multi-input multi-output(MIMO) systems. An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance. The designed compensator is in the form of a stable, low order, and causal filter, in which the compensator can be implemented separately without being merged with the RC internal model. This will reduce complexity in the implementation. Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design. The novelty of design is also verified in experiments on a 2degrees of freedom(DOF) robot.
引用
收藏
页码：615 / 623
页数：9
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