Richard W. Longman
Columbia University
USA
Title: Robustification of repetitive control systems for high accuracy and high speed operation
Biography
Biography: Richard W. Longman
Abstract
Repetitive Control (RC) is a relatively new field that aims to fully cancel the effects of periodic disturbances in a feedback control system, or aims to follow a periodic command perfectly. This is accomplished by looking at the error in the previous period, and adjusting the command given the feedback control system in the current period. Spacecraft applications include eliminating vibrations of fine pointing equipment, such as in a telescope, produced by rotation of the feedback control actuators, e.g. control moment gyros. Aircraft applications include the repetitive processes in manufacturing that can need high precision, and can benefit from fast operation when possible. RC is very unusual in the control field because it asks for zero error tracking a periodic signal. RC challenges typical control system analysis methods. Model inaccuracy can easily produce instability. Various methods of robustifying RC to model error are presented.
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