Adaptive Repetitive Control Design with Application to an Electrohydraulic Servo

Zongxuan Sun; Tsu Chin Tsao

doi:10.1115/IMECE1997-1280

Adaptive Repetitive Control Design with Application to an Electrohydraulic Servo

Zongxuan Sun
, Tsu Chin Tsao

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper addresses the discrete-time adaptive control design which incorporates internal model principle for asymptotic tracking performance of systems with parametric uncertainties, unmodeled dynamics and noise. The indirect adaptive control system applies projection or least squares parameter adaptation algorithm with dead zone, and frozen time stabilizing control. The global stability of the system is ensured under certain assumptions. The adaptive algorithm is applied to an electrohydraulic servo with periodic disturbances and reference trajectory. A frozen time stabilizing repetitive control is applied in parallel to the parameter adaptation algorithm. Experimental results show that the adaptive systems can tolerate parameter mismatch and unmodeled dynamics while maintaining stability and asymptotic tracking performance.

Original language	English (US)
Title of host publication	Fluid Power Systems and Technology
Publisher	American Society of Mechanical Engineers (ASME)
Pages	39-53
Number of pages	15
ISBN (Electronic)	9780791818367
DOIs	https://doi.org/10.1115/IMECE1997-1280
State	Published - 1997
Externally published	Yes
Event	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Dallas, United States Duration: Nov 16 1997 → Nov 21 1997

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	1997-AI

Conference

Conference	ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997
Country/Territory	United States
City	Dallas
Period	11/16/97 → 11/21/97

Bibliographical note

Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

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10.1115/IMECE1997-1280

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Adaptive Repetitive Control Design with Application to an Electrohydraulic Servo. / Sun, Zongxuan; Tsao, Tsu Chin.
Fluid Power Systems and Technology. American Society of Mechanical Engineers (ASME), 1997. p. 39-53 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1997-AI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sun, Z & Tsao, TC 1997, Adaptive Repetitive Control Design with Application to an Electrohydraulic Servo. in Fluid Power Systems and Technology. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 1997-AI, American Society of Mechanical Engineers (ASME), pp. 39-53, ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997, Dallas, United States, 11/16/97. https://doi.org/10.1115/IMECE1997-1280

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abstract = "This paper addresses the discrete-time adaptive control design which incorporates internal model principle for asymptotic tracking performance of systems with parametric uncertainties, unmodeled dynamics and noise. The indirect adaptive control system applies projection or least squares parameter adaptation algorithm with dead zone, and frozen time stabilizing control. The global stability of the system is ensured under certain assumptions. The adaptive algorithm is applied to an electrohydraulic servo with periodic disturbances and reference trajectory. A frozen time stabilizing repetitive control is applied in parallel to the parameter adaptation algorithm. Experimental results show that the adaptive systems can tolerate parameter mismatch and unmodeled dynamics while maintaining stability and asymptotic tracking performance.",

author = "Zongxuan Sun and Tsao, \{Tsu Chin\}",

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year = "1997",

doi = "10.1115/IMECE1997-1280",

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AB - This paper addresses the discrete-time adaptive control design which incorporates internal model principle for asymptotic tracking performance of systems with parametric uncertainties, unmodeled dynamics and noise. The indirect adaptive control system applies projection or least squares parameter adaptation algorithm with dead zone, and frozen time stabilizing control. The global stability of the system is ensured under certain assumptions. The adaptive algorithm is applied to an electrohydraulic servo with periodic disturbances and reference trajectory. A frozen time stabilizing repetitive control is applied in parallel to the parameter adaptation algorithm. Experimental results show that the adaptive systems can tolerate parameter mismatch and unmodeled dynamics while maintaining stability and asymptotic tracking performance.

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ER -

Adaptive Repetitive Control Design with Application to an Electrohydraulic Servo

Abstract

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