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Quasi-sliding mode based repetitive control for nonlinear continuous-time systems with rejection of periodic disturbances |
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| Authors: | Xiao-Dong Li [Author Vitae] [Author Vitae] John KL Ho [Author Vitae] |
| Affiliation: | a School of Information Science and Technology, Sun Yat-Sen University, 510275 Guangzhou, China b Department of Electronic Engineering, City University of Hong Kong, Kowloon, Hong Kong c Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong |
| Abstract: | A Quasi-Sliding Mode (QSM) based tracking control method for tackling Multiple-Input Multiple-Output (MIMO) nonlinear continuous-time systems with un-matching system uncertainties and exogenous disturbances is proposed. The presented Repetitive Control (RC) scheme ensures robust system stability when the system is subject to non-periodic uncertainties and exogenous disturbances. The complete rejection of periodic exogenous disturbances and a perfect tracking of non-periodic reference trajectories are achievable. In this paper, a practical application to a mass-spring-damper system is used to illustrate the validity of the proposed QSM based RC method. |
| Keywords: | Quasi-sliding mode Repetitive control Nonlinear continuous-time systems Periodic exogenous disturbances |
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