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Spatial-based Adaptive Repetitive and Iterative Learning Controls for Uncertain Variable-Speed Rotary Motion Systems Subject to Spatially Periodic and Non-periodic Disturbances
|關鍵字:||Spatial-based;空間領域;repetitive control;iterative learning control;重覆控制;遞迴學習控制||出版社:||電機工程學系所||引用:|| K. J. Astrom, and, B. Wittenmark. Adaptive control, Addison Wesley, 1995.  S. Sastry, and M. Bodson. Adaptive Control: Stability, Convergence, and Robustness, Egnlewood, NJ: Prentice Hall, 1989.  K. L. Moore. Iterative Learning Control for Deterministic Systems, Springer, 1992.  Y. Chen, and C. Wen. Iterative Learning Control: Convergence, Robustness and Applications, Springer, 1999.  J.-X. Xu, and Y. Tan. Linear and Nonlinear Iterative Learning Control, Springer, 1992.  M. Krstic, I. Kanellakopoulos, P. Kokotovic. Nonlinear and Adaptive Control Design, New York, NY: John Wiley&Sons, 1995.  H. K. Khalil. Nonlinear Systems 3rd Edition, Prentice Hall, 2002.  C.-L. Chen, G. T.-C. Chiu, and Jan P. 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Allgower, “Adaptive high-gain observer for nonlinear systems,” San Diego, CA, USA, IEEE, Piscataway, NJ, USA, 1997.  R. Marino, and P. Tomei, “Global adaptive observers for nonlinear systems via filtered transformations,” IEEE Transactions on Automatic Control, vol. 37, pp.1239-1245, 1992.  R. Marino, and P. Tomei, “Global adaptive output-feedback control of nonlinear systems, Part I: linear parametrization,” IEEE Transactions on Automatic Control, vol. 38, pp. 17-32, 1993.||摘要:||
Motion control systems play important roles in various industry applications. For design of control algorithms, people often encounter issues of uncertainties and nonlinearities. Among various types of control algorithms, repetitive control and iterative learning control (ILC) have been applied to the system for rejection of periodic disturbances or tracking periodic commands. Most disturbances subject to rotary motion systems come from eccentricity or tooth profile error. The types of disturbances are periodic with respect to angular position, but not necessarily periodic with respect to time. In other words, their frequencies are proportional to system operating speeds.
To prevent the frequencies of periodic disturbances from varying with respect to system operating speeds, we propose a new adaptive repetitive control scheme designed in the spatial domain. The proposed spatial-based control is applicable to a generic nonlinear system operating at various speeds, subject to spatially periodic and band-limited disturbances, and the open-loop system has both structured and unstructured parametric uncertainties.
The other focus of this work is spatial-based iterative learning control for system subject to unknown and spatially periodic parametric variation. In this topic, spatially periodic uncertainties are modeled as spatially periodic unknown parameters. Adaptive iterative learning control is used to design a control law and a periodic parametric update law in order to cope with the unknown parameters which are spatially periodic and minimize the tracking error.
Feasibility and effectiveness of aforementioned works are verified by design examples using MATLAB/SIMULINK.
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