Fourier series based learning control and application to positioning table

被引：20
|
作者：
Cai, L [1 ]
Huang, W [1 ]
机构：
[1] Hong Kong Univ Sci & Technol, Dept Mech Engn, Kowloon, Hong Kong, Peoples R China
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2000年 / 32卷 / 2-3期
关键词：
Fourier series; learning control; iterative learning algorithm; time domain feedback control; closed-loop system; positioning table;
D O I：
10.1016/S0921-8890(99)00111-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new Fourier series based learning control scheme is presented in this paper. The proposed controller consists of two parts: a time domain feedback controller that is designed to stabilize the system and improve the robustness to random disturbance, and a Fourier series based learning controller that is used to generate the best feedforward in the face of deterministic modeling uncertainties. The learning controller is essentially a feedback controller in frequency domain. A new iterative algorithm based on the Fourier series approximation generates the optimal feedforward to force the state trajectory converge to a stable sliding surface. Only the historical input and output information of the closed-loop system is used. There is no requirement for knowledge about the system structure and parameters. The stability analysis of the closed-loop system with the learning controller is also provided. The effectiveness of the proposed controller is experimentally verified on a positioning table. (C) 2000 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：89 / 100
页数：12
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