In this work, we present a novel repetitive control (RC) strategy to achieve accurate position tracking of a 1-DOF Lagrangian system. Such controller is able to cope with model uncertainties and unknown transmission delays in the control architecture. The classic repetitive structure is augmented with an observer of the residual disturbance, to be compensated by means of the RC action. The repetitive unit is updated at hybrid instants so that the disturbance observer is close to its steady-state before anew repetitive correction is applied. In addition, communication delay is also estimated by the proposed control structure. This way, practical asymptotic stability of the overall system can be achieved with a simple proportional correction of the RC, also under perturbations of the steady-state estimate due to model uncertainties. In light of the aforementioned properties, the proposed RC-based controller is shown to be an easy-to-tune, robust solution capable of improving the tracking performance for the given case of study.

Andrea Tilli, E.R. (2020). A Hybrid Adaptation Strategy for Repetitive Control of an Uncertain Delay Lagrangian System [10.1016/j.ifacol.2020.12.1483].

A Hybrid Adaptation Strategy for Repetitive Control of an Uncertain Delay Lagrangian System

Andrea Tilli
;
Elena Ruggiano;Christian Conficoni;Alessandro Bosso
2020

Abstract

In this work, we present a novel repetitive control (RC) strategy to achieve accurate position tracking of a 1-DOF Lagrangian system. Such controller is able to cope with model uncertainties and unknown transmission delays in the control architecture. The classic repetitive structure is augmented with an observer of the residual disturbance, to be compensated by means of the RC action. The repetitive unit is updated at hybrid instants so that the disturbance observer is close to its steady-state before anew repetitive correction is applied. In addition, communication delay is also estimated by the proposed control structure. This way, practical asymptotic stability of the overall system can be achieved with a simple proportional correction of the RC, also under perturbations of the steady-state estimate due to model uncertainties. In light of the aforementioned properties, the proposed RC-based controller is shown to be an easy-to-tune, robust solution capable of improving the tracking performance for the given case of study.
2020
Proceedings of the 21th IFAC World Congress 2020 – 1st Virtual IFAC World Congress IFAC-V 2020
8965
8972
Andrea Tilli, E.R. (2020). A Hybrid Adaptation Strategy for Repetitive Control of an Uncertain Delay Lagrangian System [10.1016/j.ifacol.2020.12.1483].
Andrea Tilli, Elena Ruggiano, Christian Conficoni, Alessandro Bosso
File in questo prodotto:
File Dimensione Formato  
1-s2.0-S2405896320318966-main.pdf

accesso aperto

Tipo: Versione (PDF) editoriale
Licenza: Licenza per Accesso Aperto. Creative Commons Attribuzione - Non commerciale - Non opere derivate (CCBYNCND)
Dimensione 696.48 kB
Formato Adobe PDF
696.48 kB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/807208
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 1
  • ???jsp.display-item.citation.isi??? 0
social impact