Aperiodic Nonlinear Disturbances Rejection of Parallel-Cascaded Repetitive Control With Dynamic Phase Compensator for an Image-Based Piezoelectric Tip-Tilt System

作者：Mingyu Lei, Nian Feng, Li Wen, Tao Tang · 发表于：IEEE Transactions on Automation Science and Engineering · 年份：2025 · DOI：10.1109/TASE.2025.3628706 · 研究领域：Computer Science

Conventional repetitive control exhibits sharp notch characteristics and suffers from phase lag due to the system delay, which limits its effectiveness in suppressing aperiodic nonlinear disturbances. To address this challenge, this paper proposes a parallel-cascaded odd-harmonic flat-notch repetitive control (PC-OFRC) scheme with a dynamic phase compensator, specifically designed to enhance the rejection of aperiodic, nonlinear, wideband, high-frequency disturbances in an image-based piezoelectric tip-tilt mirror system. Compared to other odd-harmonic repetitive control methods, the proposed PC-OFRC scheme achieves flexible wideband notching with a wider bandwidth and enhanced frequency robustness. To further strengthen system stability and rejection performance, a dynamic phase compensator is employed to provide real-time phase alignment, ensuring robust disturbance rejection and improved system stability over a broad frequency range. Additionally, a low-order infinite impulse response (IIR) fractional delay filter is introduced to maintain high-frequency notch accuracy. Experimental results demonstrate that the proposed method effectively suppresses multiple high-frequency wideband beam jitters while exhibiting superior adaptability to aperiodic nonlinear disturbances and frequency shifts. Note to Practitioners—The beam jitter caused by aperiodic and nonlinear disturbances presents a significant challenge for high-precision image-based systems such as laser communication a...