Spatial Incremental Model-Predictive Repetitive Control for Rotational Systems

This paper presents a spatial repetitive control method for precisely tracking a spatial periodic reference signal, achieved through incremental model-predictive control and an exact-feedback linearization method (IMPSRC) for rotational systems with disturbances. A modeling method in the spatial dom...

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Vydáno v:Journal of advanced computational intelligence and intelligent informatics Ročník 29; číslo 5; s. 1047 - 1055
Hlavní autoři: Zhou, Yujian, She, Jinhua, Guo, Shijie, Wang, Feng, Kawata, Seiichi, Iwasaki, Makoto
Médium: Journal Article
Jazyk:angličtina
Vydáno: Tokyo Fuji Technology Press Co. Ltd 20.09.2025
Témata:
Control methods
Control systems
Controllers
Design
Disturbances
Feedback linearization
Informatics
Mechanical engineering
Predictive control
Reference signals
Repetitive control
Repetitive controllers
Tracking control
Tracking errors
ISSN:1343-0130, 1883-8014
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Shrnutí:This paper presents a spatial repetitive control method for precisely tracking a spatial periodic reference signal, achieved through incremental model-predictive control and an exact-feedback linearization method (IMPSRC) for rotational systems with disturbances. A modeling method in the spatial domain is first presented, followed by the configuration of the IMPSRC system. An exact-feedback-linearization controller is then designed to linearize the system model. Then we built an augmented system model using the dynamics of the tracking error of a spatial-domain periodic reference signal and the difference in the control input between two adjacent periods. The increment of the control input incorporates the internal model of the periodic reference signal, enabling the system to achieve tracking without steady-state error. An incremental model-predictive repetitive controller is then designed based on the augmented model. It enables precisely tracking spatial periodic signals and ensures stability under uncertainties and disturbances. The IMPSRC method is validated through simulations of tracking control of a rotational system. Spatial-domain sampling is triggered by the angular signal of the rotational system, which facilitates the implementation of the IMPSRC method. Simulation results show the effectiveness of the IMPSRC method.
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ISSN:1343-0130
1883-8014
DOI:10.20965/jaciii.2025.p1047