Adaptive control

Control (management)

Engineering

Biology

Statistics

Control system

Servomotor

Control engineering

Computer science

Bounded function

Controller (irrigation)

Tracking error

Mathematics

Agronomy

Nonparametric statistics

Repetitive control

Mathematical analysis

Artificial intelligence

Parametric statistics

Control theory (sociology)

Servo

Electrical engineering

IEEE Transactions on Industrial Electronics

In this article, an adaptive repetitive learning control (ARLC) scheme is proposed for permanent magnet synchronous motor (PMSM) servo systems with bounded nonparametric uncertainties, which are divided into two separated parts. The periodically nonparametric part is involved in an unknown desired control input, and a fully saturated repetitive learning law with a continuous switching function is developed to ensure that the estimate of the unknown desired control input is continuous and confined with a prespecified region. The nonperiodically nonparametric part is transformed into the parametric form and compensated by designing the adaptive updating laws, such that a prior knowledge on the bounds of uncertainties is not required in the controller design. With the proposed ARLC scheme, a high steady-state tracking accuracy is guaranteed, and comparative experiments are provided to demonstrate the effectiveness and superiority of the proposed method.

Adaptive Repetitive Learning Control of PMSM Servo Systems with Bounded Nonparametric Uncertainties: Theory and Experiments