Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer

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...

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Bibliographic Details
Main Authors: Takashi OHHIRA, Akira SHIMADA
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2017-11-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
model predictive control
disturbance observer
offset-free tracking control
disturbance suppression
motion control
multivariable control
movement control
Online Access:https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00276/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00276/_pdf/-char/en

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