Synthesis, stability analysis, and experimental implementation of a multirate repetitive learning controller
Synthesis, stability analysis, and experimental implementation of a multirate repetitive learning controller
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多速率重复学习控制器的综合、稳定性分析和实验实现
DOI：
10.1109/aim.1999.803245
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Ai
中科院分区：
文献类型：
--
作者：
C. James;N. Sadegh;Ai
介绍了具有可调采样率的多速率重复学习控制器，该控制器可作为“附加”模块进一步增强反馈控制系统的性能。由于其多速率特性，用户可以选择采样率，以实现基于精度和控制器的复杂性之间的权衡所需的性能。控制器使用加权平均滤波器根据跟踪误差下采样来学习对象输入。学习到的控制输入随后通过用户确定的任意保持机制传递给设备。将已有的单速率重复控制器的稳定性结果推广到所提出的多速率重复控制器。并给出了设计和稳定性分析的具体步骤。此外，所提出的多速率控制器已在硬件上实现，并通过实验验证了其在跟踪应用中的有效性。
Introduces a multirate repetitive learning controller with an adjustable sampling rate that can be used as an "add-on" module to further enhance the performance of a feedback control system. As a result of its multirate characteristics, the user can choose a sampling rate to achieve the required performance based on a trade-off between the accuracy and the complexity of the controller. The controller learns the plant input based on the tracking error down-sampled using a weighted averaging filter. The learned control input is subsequently passed to the plant through an arbitrary hold mechanism determined by the user. The paper extends the existing stability results for single-rate repetitive controllers to the proposed multirate scheme. It also provides an explicit procedure for its design and stability analysis. In addition, the proposed multirate controller has been implemented on hardware and its effectiveness in tracking applications has been verified experimentally.