2012-57-9-TAC-信号变换+跟踪控制+任意参考信号.pdf

2294 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 57, NO. 9, SEPTEMBER 2012 Signal Transformation Approach to Tracking Control With Arbitrary References Ali Bazaei, Member, IEEE, and S. O. Reza Moheimani, Fellow, IEEE Abstract— In this paper, we introduce a signal transformation of the measurement noise unaffected [19]–[28]. However, (ST) methodology for tracking control of a large class of arbi- these methods are not suitable for tracking of time-varying trary references. The method can improve tracking performance commands such as triangular waveforms or suffer from lack of of ordinary one-degree-of-freedom (1-DoF) feedback control structure, while keeping robustness against unmodeled dynamics robustness to plant uncertainties. Some adaptive controllers are and limiting the projected measurement noise by ensuring a low also used for tracking of time-varying [29]; however, they are closed-loop bandwidth. Using singular perturbation theory, suffi- prone to drift in integral adaptation gains or very high control cient conditions for stability and convergence of the tracking error demands in the presence of measurement noise [30]. Iterative are derived. Effectiveness of the proposed method is demonstrated learning control (ILC) can also be added as a feed-forward by simulations. It is shown how ST method can provide a better control performance compared to ordinary 2-DoF feedback con- control action in a feedback system to improve the steady-state trol systems having similar projected noise power, and maintain tracking error for repetitive references with