Passive internal model based repetitive control of robot manipulators

In this paper, a new class of globally stable finite dimensional repetitive controller for robot manipulator is proposed. The passivity based design of the proposed repetitive controller avoid the problem of tight stability conditions and slow convergence of the conventional, internal model based, repetitive controllers. The passive interconnection of the controller with nonlinear mechanical systems provide stability margin which is the same as stability margin of the controller with exact feed-forward compensation of robot dynamics. The simulation results illustrate the convergence properties of the proposed controller