Multivariable repetitive-predictive control of a robot arm with experimental results

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 7672-7677

  Wang, Liuping ^a   Freeman, Chris T ^b   Chai, Shan ^a   Rogers, Eric ^b  

^a RMIT UNIVERSITY   (Australia)

^b UNIVERSITY OF SOUTHAMPTON   (United Kingdom)

Author keywords

Frequency sampling filter; Repetitive predictive control; Robot arm

Indexed keywords

BANDWIDTH; CLOSED LOOP SYSTEMS; DISTURBANCE REJECTION; FREQUENCY RESPONSE; ROBOTIC ARMS; SPURIOUS SIGNAL NOISE;

CLOSED-LOOP PERFORMANCE; DECOMPOSITION TECHNIQUE; FREQUENCY SAMPLING FILTERS; PREDICTIVE CONTROL; REFERENCE TRAJECTORIES; REPETITIVE CONTROL SYSTEM; ROBOT ARMS; TWO INPUT - TWO OUTPUT SYSTEMS;

CONTROLLERS;

EID: 84866766136     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.02774     Document Type: Conference Paper

References (7)

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3. Wang, L. (2009). Model Predictive Control System Design and Implementation Using MATLAB. Springer London.
4. Wang, L., Chai, S., Freeman, C.T., and Rogers, E. (2010a). On structure selection for multivariable repetitive predictive controllers. In 49th IEEE Conference on Decision and Control, 6973-6978.
5. Wang, L., Chai, S., and Rogers, E. (2010b). Predictive repetitive control based on frequency decomposition. In 2010 American Control Conference, 4277-4282.
6. Wang, L. and Cluett, W.R. (2000). From plant data to process control: ideas for process identification and PID design. Taylor and Francis.
7. Wang, L., Gawthrop, P., Owens, D.H., and Rogers, E. (2010c). Switched linear predictive controllers for periodic exogenous signals. International Journal of Control, 83(4), 848-861.