Discrete-Time Repetitive Control for Multi-Harmonic Reference Trajectories with Arbitrary Frequency. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Marko, L.; Saxinger, M.; Bittner, M.; Steinboeck, A.; Kugi, A.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 1646
• Page End: 1651
• Publication Date: 2020
• Subjects: Backlash -- repetitive control -- Fourier series -- discrete-time implementation -- averaging analysis; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2221
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this work, a repetitive control approach for the tracking of harmonic reference trajectories in the presence of actuator backlash and sticking friction is presented. A spatial Fourier series formulation is utilized to obtain a learning law which is independent of the desired reference frequency. Subsequently, discrete-time averaging is employed, which results in a simple convergence criterion for the closed-loop system. Furthermore, all updates are calculated in a time-recursive manner, which avoids the necessity of large data windows and allows for a discrete-time implementation with a uniform sampling time. Finally, experimental results of a fully assembled spindle drive are presented. This demonstrates the effectiveness of the proposed control scheme as well as its suitability as an add-on strategy in existing positioning devices.