Repetitive control for a class of nonlinear systems

被引：0
|
作者：
Hikita, Hiromitsu [1 ]
Yamashita, Mitsuhisa [1 ]
Kubota, Yuzuru [1 ]
机构：
[1] Muroran Inst of Technology, Hokkaido, Japan
来源：
JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Menufacturing | 1993年 / 36卷 / 04期
关键词：
Automation - Control nonlinearities - Learning systems - Recursive functions - Robotics - System stability;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A repetitive control scheme which is applicable to a class of nonlinear systems with periodic reference signals is proposed. The nonlinear terms in the systems are assumed to be polynomially bounded. Sliding mode control is applied to an augmented system in which an integrator and a repetitive controller are combined in order to obtain a linear input-output relation. The stability condition for the repetitive control system realized by the proposed method is derived. It is shown that this system satisfies the internal model principle for a given frequency bandwidth. The frequency bandwidth is given by the stability condition. An illustrative example is given.
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页码：430 / 434
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