【摘 要】
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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
【机 构】
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Faculty of Science Engineering and Technology,Swinburne University of Technology,Department of Engin
【出 处】
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International Journal of Automation and Computing
论文部分内容阅读
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.
This paper presents the design of decentralized repetitive control (RC) for multi-input multi-output (MIMO) systems. An optimization method is used to obtain 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.
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