Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller

[+] Author and Article Information
Nader Sadegh

School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 nader.sadegh@me.gatech.edu

Ai-Ping Hu

CAMotion, Inc., 430 Tenth Street, Suite S009, Atlanta, GA 30318

Courtney James

XEROX Corp., J.C. Wilson Center for Research and Technology, 800 Phillips Road, M/S 147-11B, Webster, NY 14580

J. Dyn. Sys., Meas., Control 124(4), 668-674 (Dec 16, 2002) (7 pages) doi:10.1115/1.1514060 History: Received March 01, 2001; Revised May 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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Common configuration for the implementation of RLC
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Linear weighted average curve for intermediate down-sampling points
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Configuration for multirate RLC. R(z) represents the N-step delay positive feedback loop
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Flexible manipulator hardware
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Control system block diagram
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Output of MRLC xlearn over 30 s
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xd (solid line) during the 30th period and xref (dashed line)
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Tip position error etip calculated based on Kalman filter estimation of xtip
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Machine vision-measured tip position during 30th period




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