Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances

E. Kurniawan; H.G. Harno; H. Wang; J.A. Prakosa; B.H. Sirenden; H. Septanto; H. Adinanta; A. Rahmatillah

doi:10.1007/s11432-022-3561-2

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Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances

Journal article

Peer reviewed

Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances

E. Kurniawan, H.G. Harno, H. Wang, J.A. Prakosa, B.H. Sirenden, H. Septanto, H. Adinanta and A. Rahmatillah

Science China Information Sciences, Vol.65(12), Art. 222202

2022

DOI: https://doi.org/10.1007/s11432-022-3561-2

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Abstract

This article presents a novel tracking control strategy for unknown linear systems perturbed by odd-harmonic periodic disturbances that combine adaptive and repetitive control methods. The proposed control strategy results in a robust adaptive odd-harmonic repetitive controller (RA-OHRC). Direct adaptive control with a robust adaptation law is utilized to accurately track the desired trajectory, ensuring the boundedness and convergence of the tracking error. An internal-model-based repetitive controller is added to compensate for periodic disturbances with odd-harmonic components. The boundedness and the convergence of the tracking error are verified through the Lyapunov-based stability analysis. The effectiveness of the proposed RA-OHRC scheme can be demonstrated using the simulation studies involving a servomotor model, which achieves accurate reference tracking, excellent disturbance rejection capability, and robustness against uncertainties.

Details

Title: Robust adaptive repetitive control for unknown linear systems with odd-harmonic periodic disturbances
Authors/Creators: E. Kurniawan (Author/Creator)
H.G. Harno (Author/Creator)
H. Wang (Author/Creator)
J.A. Prakosa (Author/Creator)
B.H. Sirenden (Author/Creator)
H. Septanto (Author/Creator)
H. Adinanta (Author/Creator)
A. Rahmatillah (Author/Creator)
Publication Details: Science China Information Sciences, Vol.65(12), Art. 222202
Publisher: Springer Co-publication with Science China Press
Identifiers: 991005541922307891
Murdoch Affiliation: School of Engineering and Energy
Language: English
Resource Type: Journal article

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Collaboration types: Domestic collaboration; International collaboration
Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.29 Automation & Control Systems; 4.29.104 Adaptive Control
Web Of Science research areas: Computer Science, Information Systems; Engineering, Electrical & Electronic
ESI research areas: Computer Science