Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances  

作　　者：Edi KURNIAWAN Hendra G.HARNO Hai WANG Jalu A.PRAKOSA Bernadus H.SIRENDEN Harry SEPTANTO Hendra ADINANTA Akif RAHMATILLAH 

机构地区：[1]Research Center for Photonics,National Research and Innovation Agency,Tangerang Selatan 15314,Indonesia [2]Faculty of Science and Technology,Sanata Dharma University,Yogyakarta 55281,Indonesia [3]Discipline of Engineering and Energy,Murdoch University,Perth 6150,Australia [4]Research Center for Electronics,National Research and Innovation Agency,Bogor 15314,Indonesia [5]Research Center for Smart Mechatronics,National Research and Innovation Agency,Bogor 40135,Indonesia [6]Research Center for Hydrodynamics Technology,National Research and Innovation Agency,Surabaya 60112,Indonesia [7]Faculty of Science and Technology,Airlangga University,Surabaya 60115,Indonesia

出　　处：《Science China(Information Sciences)》2022年第12期182-199,共18页中国科学（信息科学）（英文版）

摘　　要：This article presents a novel tracking control strategy for unknown linear systems perturbed by odd-harmonic periodic disturbances that combine adaptive and repetitive control methods.The proposed control strategy results in a robust adaptive odd-harmonic repetitive controller(RA-OHRC).Direct adaptive control with a robust adaptation law is utilized to accurately track the desired trajectory,ensuring the boundedness and convergence of the tracking error.An internal-model-based repetitive controller is added to compensate for periodic disturbances with odd-harmonic components.The boundedness and the convergence of the tracking error are verified through the Lyapunov-based stability analysis.The effectiveness of the proposed RA-OHRC scheme can be demonstrated using the simulation studies involving a servomotor model,which achieves accurate reference tracking,excellent disturbance rejection capability,and robustness against uncertainties.

关 键 词：repetitive control direct adaptive control odd-harmonic frequencies periodic disturbances unknown linear systems 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]