Tracking Performance Improvement of Repetitive Controller for Nano-Manipulating Systems With Time Delays

2019 ◽  
Author(s):  
Pengbo Liu ◽  
Peng Yan
Keyword(s):  
Time Delay ◽  
Performance Improvement ◽  
Controller Design ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Performance Improvements ◽  
Low Pass ◽  
Repetitive Controller

Abstract This paper investigates the robust repetitive controller design with improved tracking performance for nano-manipulating systems with time delay. In order to handle the time delay caused by the analog-to-digital (A/D) conversion of the capacitive sensors with ultra high precision, we modify the conventional repetitive control structure where the design of low pass filter is formulated as an H∞ optimization problem. For the purpose of tracking performance improvement, we further modify the structure of the low pass filter by shaping the sensitivity functions of the closed-loop system. With consideration of the existing of model uncertainties, the design of the modified low pass filter is also formulated as an H∞ optimization of infinite dimensional systems. The effectiveness of the proposed repetitive control architecture is further verified by real time experiments on a piezo driven nano-stage, where significant tracking performance improvements are demonstrated comparing with the traditional repetitive controller.

Design of Modified Repetitive Controller for T–S Fuzzy Systems

2019 ◽  
Vol 23 (3) ◽  
pp. 602-610 ◽  
Author(s):  
Manli Zhang ◽  
Min Wu ◽  
Luefeng Chen ◽  
Pan Yu ◽  
◽  
...  
Keyword(s):  
Stability Condition ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Linear Matrix ◽  
Continuous Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
The Stability ◽  
Repetitive Controller

A repetitive controller contains a pure-delay positive-feedback loop that makes it difficult to stabilize a strictly proper system. A low-pass filter is inserted in a repetitive controller to relax the stability condition of the modified repetitive-control system at the cost of degrading the tracking performance. In this study, a modified repetitive-control approach is developed, which reaches a balance between the stability and tracking performance for a class of affine nonlinear systems based on the Takagi–Sugeno fuzzy model. First, a 2D model is established to adjust continuous control and discrete learning actions preferentially induced by exploiting the 2D property in a repetitive-control process. Then, the Lyapunov stability theory and 2D system theory are used to derive a sufficient stability condition in the form of linear matrix inequalities to design parallel-distributed-compensation-based state-feedback controllers. Finally, an application-oriented example is used, and a comparison is performed to show that an extra variable is introduced such that the developed method has a better tracking performance.

An experimental analog circuit realization of Matsuda’s approximate fractional-order integral operators for industrial electronics

2021 ◽  
Author(s):  
Murat Koseoglu ◽  
Furkan Nur Deniz ◽  
Baris Baykant Alagoz ◽  
Ali Yuce ◽  
Nusret Tan
Keyword(s):  
Fractional Order ◽  
Analog Circuit ◽  
Low Cost ◽  
Electric Circuit ◽  
Partial Fraction ◽  
Circuit Realization ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Performance Improvements ◽  
Low Pass

Abstract Analog circuit realization of fractional order (FO) elements is a significant step for the industrialization of FO control systems because of enabling a low-cost, electric circuit realization by means of standard industrial electronics components. This study demonstrates an effective operational amplifier-based analog circuit realization of approximate FO integral elements for industrial electronics. To this end, approximate transfer function models of FO integral elements, which are calculated by using Matsuda’s approximation method, are decomposed into the sum of low-pass filter forms according to the partial fraction expansion. Each partial fraction term is implemented by using low-pass filters and amplifier circuits, and these circuits are combined with a summing amplifier to compose the approximate FO integral circuits. Widely used low-cost industrial electronics components, which are LF347N opamps, resistor and capacitor components, are used to achieve a discrete, easy-to-build analog realization of the approximate FO integral elements. The performance of designed circuit is compared with performance of Krishna’s FO circuit design and performance improvements are shown. The study presents design, performance validation and experimental verification of this straightforward approximate FO integral realization method.

Norepinephrine reuptake, baroreflex dynamics, and arterial pressure variability in rats

2000 ◽  
Vol 279 (4) ◽  
pp. R1257-R1267 ◽  
Author(s):  
Delphine Bertram ◽  
Christian Barrès ◽  
Yong Cheng ◽  
Claude Julien
Keyword(s):  
Time Delay ◽  
Transfer Function ◽  
Fixed Time ◽  
Baroreceptor Reflex ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Mayer Waves ◽  
Frequency Responses ◽  
Low Pass ◽  
Norepinephrine Reuptake

This study examined the effect of norepinephrine reuptake blockade with desipramine (DMI) on the spontaneous variability of the simultaneously recorded arterial pressure (AP) and renal sympathetic nerve activity (SNA) in conscious rats. Acute DMI administration (2 mg/kg iv) depressed AP Mayer waves (∼0.4 Hz) and increased low-frequency (<0.2 Hz) components of AP variability. DMI decreased renal SNA variability, especially due to the abolition of oscillations related to Mayer waves. To examine whether DMI-induced changes in AP and renal SNA variabilities could be explained by alterations in the dynamic characteristics of the baroreceptor reflex loop, the frequency responses of mean AP to aortic depressor nerve stimulation were studied in urethan-anesthetized rats. DMI accentuated the low-pass filter properties of the transfer function without significantly altering the fixed time delay. The frequency responses of iliac vascular conductance to stimulation of the lumbar sympathetic chain were studied in an additional group of anesthetized rats. DMI did not markedly alter the low-pass filter properties of the transfer function and slightly increased the fixed time delay. These results suggest that the DMI-induced decrease in the dynamic gain of the baroreceptor reflex is responsible for the decreased spontaneous renal SNA variability and the accompanying increased AP variability. The “slowing down” of baroreflex responses cannot be attributed to an effect of DMI at the vascular neuroeffector junction.

Analysis and Synthesis of Discrete-Time Repetitive Controllers

1989 ◽  
Vol 111 (3) ◽  
pp. 353-358 ◽  
Author(s):  
Masayoshi Tomizuka ◽  
Tsu-Chin Tsao ◽  
Kok-Kia Chew
Keyword(s):  
Discrete Time ◽  
Tracking Error ◽  
Disk File ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Analysis And Synthesis ◽  
Holding Device ◽  
Low Pass ◽  
Actuator System ◽  
Repetitive Controller

Repetitive control is formulated and analyzed in the discrete-time domain. Sufficiency conditions for the asymptotic convergence of a class of repetitive controllers are given. The “plug-in” repetitive controller is introduced and applied to track-following in a disk-file actuator system. Inter-sample ripples in the tracking error were present when the “plug-in” repetitive controller was installed. The performance is enhanced, however, when the zero-holding device is followed by a low-pass filter or replaced by a delayed first-order hold.

Two time-scale observer-based robust motion controller design and realization of a linear actuator

2016 ◽  
Vol 40 (11) ◽  
pp. 3241-3251 ◽  
Author(s):  
Nan Wang ◽  
Weiyang Lin ◽  
Jinyong Yu ◽  
An Zhang ◽  
Chao Ye
Keyword(s):  
Time Scale ◽  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Velocity Signal ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Signal Tracking ◽  
Time Scale Separation ◽  
Low Pass

In this paper, an observer-based sliding mode controller is proposed for a high-accuracy motion plant to suppress the disturbances and improve the tracking performance. In particular, a two time-scale separation technology, which can recover the disturbance state in a faster time scale, is utilized to compensate the disturbances and improve the system robustness. The parameter identification is carried out to obtain the model coefficients with a high fitting rate. Such an identified model can allow the engineers to tune the controller’s gains highly enough when the system suffers from the measurement noises. Instead of the traditional low-pass filter, a differentiator is introduced for the velocity signal prediction and its discrete-time version is provided to attenuate the noises effect. To verify the effectiveness of the proposed approach, an adaptive robust control law is compared with the proposed one in terms of dynamic positioning error, robustness and rapid signal tracking, and the superiority and advantages can be illustrated by the experimental results.

Two-Dimensional Exact Model Matching With Application to Repetitive Control

1994 ◽  
Vol 116 (1) ◽  
pp. 2-9 ◽  
Author(s):  
David M. Alter ◽  
Tsu-Chin Tsao
Keyword(s):  
Controller Design ◽  
Reference Model ◽  
Sufficient Conditions ◽  
Efficient Solutions ◽  
Delayed Feedback ◽  
Model Matching ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Exact Model ◽  
Repetitive Controller

This paper concerns matching a system with time-delayed feedback to a rational transfer function model and its application to repetitive controller design. Necessary and sufficient conditions on the order of the plant, reference model, and controller are obtained for the existence of causal and stabilizing exact model matching solutions. The results are applied to robust repetitive controller design, in which a delayed feedback is introduced in the repetitive controller for rejecting periodic disturbances while simultaneously achieving input-output model matching. Furthermore, the 2-D model matching method also renders computationally efficient solutions. Also addressed are some subtle points on the selection of a low-pass filter required for robust stability. Finally, the approach is experimentally applied for turning noncircular shapes.

Decentralized Vibration and Shape Control of Structures With Colocated Sensors and Actuators

2016 ◽  
Vol 138 (3) ◽  
Author(s):  
A. H. Ghasemi ◽  
Jesse B. Hoagg ◽  
T. M. Seigler
Keyword(s):  
Shape Control ◽  
Closed Loop ◽  
Controller Design ◽  
Cutoff Frequency ◽  
Sensors And Actuators ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Unknown Disturbances ◽  
Low Pass ◽  
Model Parameter Uncertainty

This paper introduces a decentralized shape and vibration controller for structures with large and potentially unknown system order, model-parameter uncertainty, and unknown disturbances. Controller implementation utilizes distributed, colocated, and independent actuator–sensor pairs. Controller design requires knowledge of the relative degrees of the actuator and sensor dynamics and upper bounds on the diagonal elements of system's high-frequency gain matrix. Closed-loop performance is determined by a parameter gain, which can be viewed as the cutoff frequency of a low-pass filter. For sufficiently large parameter gain, the closed-loop performance is arbitrarily small. Numerical examples are used to demonstrate the application and effectiveness of the decentralized controller, and we present experimental results for a setup consisting of a cantilever beam with piezoelectric actuators and strain-gauge sensors.

Sign in / Sign up

Export Citation Format

Share Document