シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2018/01
形態種別	学術論文
査読	査読あり
標題	Compensation for state-dependent nonlinearity in a modified repetitive-control system
執筆形態	共著
掲載誌名	International Journal of Robust and Nonlinear Control
掲載区分	国外
出版社・発行元	John Wiley & Sons, Inc.
巻・号・頁	28(1),pp.213-226
担当範囲	All
著者・共著者	Lan Zhou, Jinhua She, Shaowu Zhou, and Chaoyi Li
概要	This paper presents an estimation and compensation of state-dependent nonlinearity for a modified repetitive control system. It is based on the equivalent-input-disturbance (EID) approach. The nonlinearity is estimated by an EID estimator and compensated by incorporation of the estimate into the repetitive control input. A two-dimensional model of the EID-based modified repetitive control system is established that enables the preferential adjustment of control and learning actions by means of 2 tuning parameters. The singular-value-decomposition technique and Lyapunov stability theory are used to derive a linear-matrix-inequality-based asymptotic stability condition. Exploiting the stability condition and an overall performance evaluation index, a design algorithm is developed. Simulation results for the tracking control of a chuck-workpiece system show that the method not only compensates state-dependent nonlinearity but also improves the tracking performance for the periodic reference input, thereby demonstrating the validity of the method.
外部リンクURL	http://onlinelibrary.wiley.com/doi/10.1002/rnc.3865/full