TY - JOUR
AU1 - Zhou, Lan
AU2 - She, Jinhua
AU3 - Zhou, Shaowu
AU4 - Li, Chaoyi
AB - This paper presents an estimation and compensation of state‐dependent nonlinearity for a modified repetitive control system. It is based on the equivalent‐input‐disturbance (EID) approach. The nonlinearity is estimated by an EID estimator and compensated by incorporation of the estimate into the repetitive control input. A two‐dimensional model of the EID‐based modified repetitive control system is established that enables the preferential adjustment of control and learning actions by means of 2 tuning parameters. The singular‐value‐decomposition technique and Lyapunov stability theory are used to derive a linear‐matrix‐inequality–based asymptotic stability condition. Exploiting the stability condition and an overall performance evaluation index, a design algorithm is developed. Simulation results for the tracking control of a chuck‐workpiece system show that the method not only compensates state‐dependent nonlinearity but also improves the tracking performance for the periodic reference input, thereby demonstrating the validity of the method.
TI - Compensation for state‐dependent nonlinearity in a modified repetitive control system
JF - International Journal of Robust and Nonlinear Control
DO - 10.1002/rnc.3865
DA - 2018-01-10
UR - https://www.deepdyve.com/lp/wiley/compensation-for-state-dependent-nonlinearity-in-a-modified-repetitive-HMxPiN0thv
SP - 213
EP - 226
VL - 28
IS - 1
DP - DeepDyve
ER -