Adaptive Repetitive Control of Nonlinear Discrete-Time Systems

9415275 Ulsoy本研究项目涉及重复性控制器的设计和开发，其中控制系统需要跟踪周期性参考信号并最小化非线性系统周期性干扰输入的影响：第一级适应用于最小化或消除确定性，可能未知和/或时变干扰输入的影响。随后，在线调整参数化映射。在第二个层次上，自适应被用于最小化控制系统跟踪性能的植物模型不确定性的影响。研究结果分别应用于机床和机械臂的高精度加工控制和轨迹跟踪。＊＊＊

9415275 Ulsoy This research project deals with the design and development of repetitive controllers where it is desired for the control system to track periodic reference signals and minimize the effects of periodic disturbances inputs for a clan of nonlinear systems: A first level of adaptation is used to minimize or eliminate the effects of deterministic, possibly unknown and/or time-varying disturbance inputs. Subsequently, a parameterizing mapping is adjusted online. At a second level, adaptation is used to minimize the effects of plant model uncertainties on the tracking performance of the control system. The results of this research are applied to machine tool and robot arm control for high accuracy machining and path tracking respectively. ***