报告时间：2024年11月7日 周四下午 15：00
报告地点：东南大学四牌楼校区中心楼二楼教育部重点会议室
组织单位：东南大学 自动化学院
邀 请 人：李世华教授 东南大学自动化学院
报告主题：Disturbance Observer-based Predictive Repetitive Control with Constraints
报告人简介：
Professor Liuping Wang received her Ph.D degree in 1989 from the Department of Automatic Control and Systems Engineering, University of Sheffield, UK. Upon completion of her PhD degree, she worked in the Department of Chemical Engineering at the University of Toronto, Canada for eight years in the field of process control. From 1998 to 2002, she worked in the Center for Integrated Dynamics and Control, University of Newcastle, Australia. In February 2002, she joined the School of Electrical and Computer Engineering, RMIT University, Australia where she is a Professor of Control Engineering since 2007. She has authored and co-authored more than 400 scientific papers in the field of system identification, PID control, adaptive control, model predictive control, electrical drive control, sensor fusion and control technology applications to industrial processes.
报告摘要：
This presentation develops an observer based predictive repetitive control system to track periodic reference signals or reject disturbances with bandlimited frequency content. The new design complements existing approaches to predictive control systems, where a model of the periodic disturbance is embedded in the controller. In particular, the new design, based on novel combination of repetitive control and a disturbance observer, yields a significant improvement in design transparency and implementation simplicity. Although the design is undertaken using a state-space-model, frequency response analysis based on the sensitivity and complementary functions is used to demonstrate the characteristics of the repetitive control system for disturbance rejection, reference following and measurement noise attenuation. Moreover, operational constraints can be included in the design for applications where this feature is required. Experimental validation results from application to a two-joint robotic arm are also given and discussed.
