Title :
Repetitive Learning Control of Nonlinear Continuous-Time Systems Using Quasi-Sliding Mode
Author :
Li, Xiao-Dong ; Chow, Tommy W S ; Ho, John K L ; Tan, Hong-Zhou
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon
fDate :
3/1/2007 12:00:00 AM
Abstract :
In this brief, a quasi-sliding mode (QSM)-based repetitive learning control (RLC) method is proposed for tackling multi-input multi-output nonlinear continuous-time systems with matching perturbations. The proposed RLC method is able to perform rejection of periodic exogenous disturbances as well as tracking of periodic reference trajectories. It ensures a robust system stability when it is subject to nonperiodic uncertainties and disturbances. In this brief, an application to a robotic manipulator is used to illustrate the performance of the proposed QSM-based RLC method. A comparative study with the conventional variable structure control (VSC) technique is also included
Keywords :
MIMO systems; adaptive control; continuous time systems; learning systems; manipulators; nonlinear control systems; periodic control; perturbation techniques; robust control; uncertain systems; variable structure systems; matching perturbations; multi-input multi-output system; nonlinear continuous-time systems; nonperiodic uncertainties; periodic reference trajectories; quasi-sliding mode; repetitive learning control; robotic manipulator; robust system stability; variable structure control; Control systems; Manipulators; Manufacturing; Nonlinear control systems; Research and development management; Robots; Robust stability; Sun; Trajectory; Uncertainty; Nonlinear uncertain continuous-time systems; periodic exogenous disturbances; quasi-sliding mode (QSM); repetitive learning control (RLC);
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2006.886446
