Design of Decentralized Multi-input Multi-output Repetitive Control Systems  

作　　者：Edi Kurniawan Zhen-Wei Cao Maria Mitrevska Zhi-Hong Man 

机构地区：[1]Faculty of Science Engineering and Technology,Swinburne University of Technology [2]Department of Engineering Sciences,Indonesian Institute of Sciences

出　　处：《International Journal of Automation and computing》2016年第6期615-623,共9页国际自动化与计算杂志（英文版）

摘　　要：This paper presents the design of decentralized repetitive control （RC） for multi-input multi-output （MIMO） systems. An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance. The designed compensator is in the form of a stable, low order, and causal filter, in which the compensator can be implemented separately without being merged with the RC internal model. This will reduce complexity in the implementation. Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design. The novelty of design is also verified in experiments on a 2 degrees of freedom （DOF） robot.This paper presents the design of decentralized repetitive control （RC） for multi-input multi-output （MIMO） systems. An optimization method is used to obtain a RC compensator that ensures system stability and good tracking performance. The designed compensator is in the form of a stable, low order, and causal filter, in which the compensator can be implemented separately without being merged with the RC internal model. This will reduce complexity in the implementation. Simulation results and comparison study are given to demonstrate the effectiveness of the proposed design. The novelty of design is also verified in experiments on a 2 degrees of freedom （DOF） robot.

关 键 词：Repetitive control （RC） COMPENSATOR multi-input multi-output （MIMO） DECENTRALIZED optimization two degrees of freedom robot. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN929.5[自动化与计算机技术—控制科学与工程]