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A Filtered Repetitive Controller for a Class of Nonlinear Systems

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2 Author(s)
Quan Quan ; National Key Laboratory of Science and Technology on Holistic Control, Department of Automatic Control, School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing, China ; Kai-Yuan Cai

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.

Published in:

IEEE Transactions on Automatic Control  (Volume:56 ,  Issue: 2 )