Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer
This study proposes a movement control system based on model predictive control (MPC) with state expressed identity disturbance observer (DOB). The proposed controller removes tracking errors of control variables due to disturbance influences. The DOB estimates the motion state as well as the distur...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2017-11-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00276/_pdf/-char/en |
| _version_ | 1811317845517139968 |
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| author | Takashi OHHIRA Akira SHIMADA |
| author_facet | Takashi OHHIRA Akira SHIMADA |
| author_sort | Takashi OHHIRA |
| collection | DOAJ |
| description | This study proposes a movement control system based on model predictive control (MPC) with state expressed identity disturbance observer (DOB). The proposed controller removes tracking errors of control variables due to disturbance influences. The DOB estimates the motion state as well as the disturbance acted to controlled plant. This paper assumes two types of disturbances acted to control input and to control output. The input disturbance is a steady and the output disturbance is not always steady. The presented MPC system including the DOB is robust and it suppresses disturbances via the special design method. The feasibility of the MPC-based control system is conrmed in the situation under the input and output disturbances. Finally, the proposed method is evaluated via the simulation related to a cart traveling along a straight line. |
| first_indexed | 2024-04-13T12:15:20Z |
| format | Article |
| id | doaj.art-e544dc7b62bb4a20933d64b3522b12ec |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T12:15:20Z |
| publishDate | 2017-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-e544dc7b62bb4a20933d64b3522b12ec2022-12-22T02:47:23ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-11-018385617-0027617-0027610.1299/transjsme.17-00276transjsmeOffset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observerTakashi OHHIRA0Akira SHIMADA1Graduate School of Engineering and Science, Shibaura Institute of TechnologyDept. of Engineering and Design, Shibaura Institute of TechnologyThis study proposes a movement control system based on model predictive control (MPC) with state expressed identity disturbance observer (DOB). The proposed controller removes tracking errors of control variables due to disturbance influences. The DOB estimates the motion state as well as the disturbance acted to controlled plant. This paper assumes two types of disturbances acted to control input and to control output. The input disturbance is a steady and the output disturbance is not always steady. The presented MPC system including the DOB is robust and it suppresses disturbances via the special design method. The feasibility of the MPC-based control system is conrmed in the situation under the input and output disturbances. Finally, the proposed method is evaluated via the simulation related to a cart traveling along a straight line.https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00276/_pdf/-char/enmodel predictive controldisturbance observeroffset-free tracking controldisturbance suppressionmotion controlmultivariable controlmovement control |
| spellingShingle | Takashi OHHIRA Akira SHIMADA Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer Nihon Kikai Gakkai ronbunshu model predictive control disturbance observer offset-free tracking control disturbance suppression motion control multivariable control movement control |
| title | Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| title_full | Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| title_fullStr | Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| title_full_unstemmed | Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| title_short | Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| title_sort | offset free tracking movement control based on model predictive control with disturbance suppression using disturbance observer |
| topic | model predictive control disturbance observer offset-free tracking control disturbance suppression motion control multivariable control movement control |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00276/_pdf/-char/en |
| work_keys_str_mv | AT takashiohhira offsetfreetrackingmovementcontrolbasedonmodelpredictivecontrolwithdisturbancesuppressionusingdisturbanceobserver AT akirashimada offsetfreetrackingmovementcontrolbasedonmodelpredictivecontrolwithdisturbancesuppressionusingdisturbanceobserver |