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Raymond Chuei,Zhenwei Cao,Zhihong Man 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
This paper presents a super twisting observer based repetitive control (STORC), which can not onlytrack the periodic signals precisely, but also reject aperiodic disturbances. Firstly, a stable repetitive control (RC) isdesigned based on the small gain theorem to track the periodic references, and compensate the periodic disturbances. Secondly, a robust exact differentiator is employed to estimate the velocity required by the disturbance observer. Finally, the super twisting observer (STO) is constructed to reject aperiodic disturbances, and input unmatchedperiodic disturbances with reduced chattering. The stability analysis is conducted and the design conditions arederived for a stable system. The proposed algorithm is simulated in MATLAB Simulink, and verified on a brushlessDC servo motor in real time to demonstrate the effectiveness. The comparison studies highlight the advantages ofthe proposed algorithm.
Chee Pin Tan,Kok Yew Ng,Zhihong Man,Rini Akmeliawati 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper presents a disturbance decoupled fault reconstruction (DDFR) scheme using two sliding mode observers in cascade. Measurable signals from the first observer are found to be the output of a fictitious system that is driven by the fault and disturbances. Then the signals are fed into a second observer which will reconstruct the fault. Sufficient conditions which guarantee DDFR are investigated and presented in terms of the original system matrices, and they are found to be less conservative than if only one single observer is used; therefore DDFR can be achieved for a wider class of systems using two sliding mode observers. A simulation example validates the claims made in this paper.
Maria Mitrevska,Zhenwei Cao,Jinchuan Zheng,Edi Kurniawan,Zhihong Man 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
This paper presents a simple and effective design of a discrete-time repetitive control (RC) in frequency domain. Unlike existing phase lead RC designs, the proposed approach provides flexible phase lag compensation at multiple frequencies, which ensures improved tracking performance and robustness against system uncertainties over a wide bandwidth. The proposed design is applied to a linear actuator (LA) with friction and payload variations. The robust stability analysis presented in this study demonstrates the effectiveness of the proposed method in the presence of multiple system uncertainties. Both simulation and experimental results validate the improvement. While, the comparison study shows the superiority of the proposed approach.