STABLE REPETITIVE CONTROL BY FREQUENCY ALIASING

James D. Ratcliffe, Paul L. Lewin, Eric Rogers, Jari J. Hätönen, Thomas J. Harte, David H. Owens

Abstract

A filtering technique based on frequency aliasing which was initially developed for Iterative Learning Control is modified so that it can be implemented in real-time and is suitable for Repetitive Control. The aliasing technique is experimentally verified on a gantry robot facility, which manipulates payloads from a dispenser onto a constant velocity conveyor. A parallel arrangement consisting of a three-term feedback controller and a simple structure repetitive controller is used to control the robot. Without the aliasing technique, the combined control system becomes unstable very rapidly. In contrast, when the aliasing technique is applied, 1000 repetitions are successfully completed and no indications of impending instability can be seen.

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Paper Citation


in Harvard Style

D. Ratcliffe J., L. Lewin P., Rogers E., J. Hätönen J., J. Harte T. and H. Owens D. (2005). STABLE REPETITIVE CONTROL BY FREQUENCY ALIASING . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 323-326. DOI: 10.5220/0001178703230326


in Bibtex Style

@conference{icinco05,
author={James D. Ratcliffe and Paul L. Lewin and Eric Rogers and Jari J. Hätönen and Thomas J. Harte and David H. Owens},
title={STABLE REPETITIVE CONTROL BY FREQUENCY ALIASING},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={323-326},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001178703230326},
isbn={972-8865-29-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - STABLE REPETITIVE CONTROL BY FREQUENCY ALIASING
SN - 972-8865-29-5
AU - D. Ratcliffe J.
AU - L. Lewin P.
AU - Rogers E.
AU - J. Hätönen J.
AU - J. Harte T.
AU - H. Owens D.
PY - 2005
SP - 323
EP - 326
DO - 10.5220/0001178703230326