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Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances.

Authors :
Yan, Yunda
Yang, Jun
Sun, Zhenxing
Li, Shihua
Yu, Haoyong
Source :
IET Control Theory & Applications (Wiley-Blackwell); Jan2020, Vol. 14 Issue 2, p63-72, 10p
Publication Year :
2020

Abstract

This study addresses the optimised tracking problem for motion control systems with multiple disturbances by a non‐linear‐disturbance‐observer‐enhanced continuous‐time model predictive control (MPC) method. The core is to predict the future tracking error and desired control input (including the lumped effects of disturbances/uncertainties) in the receding‐horizon by a higher‐order sliding mode disturbance observer, which is designed based upon a rough nominal system. Different from the direct compensation approach in most existing composite MPC methods, disturbance estimates are taken full advantage in the optimisation. The explicit relationship between asymptotic stability and weights in the performance index is provided. Simulations on position control of the robot arm system and experiments on speed regulation of the permanent magnet synchronous motor servo system are both presented to demonstrate the workability. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
17518644
Volume :
14
Issue :
2
Database :
Complementary Index
Journal :
IET Control Theory & Applications (Wiley-Blackwell)
Publication Type :
Academic Journal
Accession number :
148081511
Full Text :
https://doi.org/10.1049/iet-cta.2018.5821