Adaptive Repetitive Control of Nonlinear Discrete-Time Systems

9415275 Ulsoy本研究项目涉及重复控制器的设计和开发，其中希望控制系统跟踪周期性参考信号并最大限度地减少非线性系统族的周期性干扰输入的影响：第一级适应用于最大限度地减少或消除确定性，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，适应是用来最大限度地减少植物模型的不确定性对控制系统的跟踪性能的影响。本研究之成果已分别应用于高精度加工之机床控制及路径追踪之机械手臂控制。 ***

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. ***