Adaptive Repetitive Control of Nonlinear Discrete-Time Systems

9415275这项研究项目涉及重复控制器的设计和开发，在这种情况下，控制系统希望跟踪周期参考信号，并将周期扰动输入对一类非线性系统的影响降至最低：第一级自适应用于最小化或消除确定性的、可能未知的和/或时变的扰动输入的影响。随后，在线调整参数化映射。在第二级，自适应用于最小化被控对象模型不确定性对控制系统跟踪性能的影响。本文的研究成果分别应用于机床和机械臂的高精度加工和路径跟踪控制。***

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. ***