Adaptive Spatial Repetitive-Control for Time-Varying Periodic Signals in a Rotational System

• 成果类型: Article
• 署名作者: Zhou, Lan; Gao, Dongxu; She, Jinhua; Zhang, Xian-Ming; Yan, Huaicheng
• 署名单位: Hunan University of Science & Technology; Tokyo University of Technology; Swinburne University of Technology; East China University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3349316
• 发表日期: 2024
• 页码: 4134-4141
• 关键词: Disturbance observer (DO); position domain; Robustness; spatial repetitive control (SRC); time-varying periodic signals

摘要

This article presents a new disturbance-observer-based adaptive spatial repetitive control scheme that enhances tracking performance for a time-varying periodic reference signal in a rotational system with parametric and nonparametric uncertainties. First, operator theory is used to establish a spatial modified repetitive controller (SMRC) that incorporates the position-domain internal model of the time-varying periodic reference signal. Second, a full-order state observer is designed to estimate the system state and a disturbance observer is constructed to estimate the nonparametric uncertainties, while a derivative-free weight update law is derived to estimate the parametric uncertainties. This ensures direct adaptive control even in the presence of rapid or sudden changes in the uncertain system dynamics. Third, a digital implementation approach for the SMRC is developed that guarantees the synchronization of the spatial repetitive control and the temporal disturbance-observer-based adaptive control for fixed time sampling rates. Stability criteria and an optimization algorithm for the controller parameters are provided. Finally, an application to the speed control of a variable-speed rotational brushless dc motor servo system demonstrates the efficacy of the method, which outperforms conventional adaptive control and other spatial repetitive control methods.