Combined Repetitive Control System for Manipulator in the Presence of Saturated Inputs

Research deals with solving the problem of synthesizing combined robust-adaptive algorithms for a decentralized nonlinear repetitive control system with a two-link robot-manipulator which contains limitations of input (control) signals and it is designed to perform cyclically a repetitive operation. The hyperstability criterion, L-dissipativity conditions, and high-speed correction filters are used as methods to solve posed in the article problem. By dint of simulation, the quality of the proposed control system is illustrated. The main feature of the present research is the complete synthesis procedure. At the first stage, we perform a structural synthesis based on the methods mentioned above. At the second stage, we perform a parametrical synthesis with the help of genetic algorithms to find regulator coefficients for the optimal operation of the control system. The results proposed by authors can be used to control the repetitive modes of manipulators with input saturations and also for control of a various mechanical devices whose structure and parameters are undefined.