Abstract

AbstractThe objective of this paper is to apply and compare the results of the Internal Model Principle (IMP) derived multiple loops Repetitive Controller (RC) based PD controller in the 7 Degrees-of-Freedom (DoF) robot arm for tracking the triangular reference signal with different frequencies during different time intervals along with that attenuation of periodic disturbances with known period will also be done. The Repetitive Controller (RC) sometimes leads the system to instability as it provides infinite number of pole pairs on the imaginary axis in the s-plane. Thus, Finite Dimensional Repetitive Control System (FDRCS) is introduced. For dealing the small period uncertainties, multiple loops Robust Repetitive Controller (RRC) has been designed and implemented in this paper. Finally, this paper shows the comparison of the conventional RC based PD controller and different model derived Finite Dimensional Robust Repetitive Controller (FDRRC) based PD controllers in terms of tracking triangular reference and rejecting periodic disturbances, while producing minimum error.KeywordsPD controller7-DoFRobot armIMPRCFDRCFDRRCRC based PD controllerFDRRC based PD controllers

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