A Filtered Repetitive Controller for a Class of Nonlinear Systems

作者：Quan Quan^*; Cai Kai Yuan

来源：IEEE Transactions on Automatic Control, 2011, 56(2): 399-405.

DOI：10.1109/TAC.2010.2089379

• Additive decomposition
• nonlinear systems
• repetitive control (RC)
• robotic manipulator

In this note, a filtered repetitive controller (FRC) is designed to compensate for periodic disturbances in a class of nonlinear systems. First, a new model of periodic disturbances is proposed. By this model, the FRC is designed and the resulting closed-loop error dynamics are analyzed with the help of a Lyapunov-Krasovskii functional. Finally the method is applied to periodic disturbance rejection in a class of robotic manipulators. Compared with repetitive controllers, the FRC provides the flexibility to choose filter parameters to achieve a tradeoff between tracking performance and stability. More importantly, FRC can deal with small input delay while the corresponding RC cannot.

• 出版日期2011-2
• 单位北京大学