Discrete time repetitive control for robot manipulators

Abstract

The analysis and experimental implementation of a discrete-time repetitive control scheme is presented. The repetitive control structure is designed to be easily implemented on any system without modification to the existing controller. Simulation and experimental results show that the repetitive controller in conjunction with a computed-torque control or a simple proportional-derivative control law achieves good tracking performance when the desired trajectory is periodic and the period is known.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>