Precision Tracking Control and Constraint Handling of Mechatronic Servo Systems Using Model Predictive Control

Abstract

This paper presents precision tracking control and constraint handling of mechatronic servo systems using model predictive control. The current study revisits integral model predictive control, a common technique used in industrial process applications, from a motion control perspective for step tracking and constraint handling. To improve the control performance for periodic signal tracking, this paper integrates an internal modelbased repetitive control law with the model predictive controller and transforms the original problem to a quadratic programming problem to deal with the given constraints. The current study applies the aforesaid controls to a piezoactuated system, implemented at a 10-kHz sampling rate. This research analyzes and discusses the experimental results of several controller design parameters affecting the control performance. Asymptotic error tracking and constraint handling results particularly demonstrate the effectiveness and potential of the model predictive controller for the servo design of fast mechatronic systems.

Research on Electro-Mechanical Brake Systems Control Method for Mine Underground Electric Trackless Rubber-Tired Vehicle

“…zero point of PI controller is designed to compensate for the pole of plant, such as in (14), the closed-loop transfer function can be written as (15). Proportional gain K and integral gain K are set to satisfy the given time-domain requirements on the current response.…”

Model predictive control of Microgrid based on Mixed Logic Dynamic

“…According to (4), (6), (7), (9), (10) and (11), the MLD model and its constrains of the microgrid system are constructed as (12) and (13). …”

“…With correspondence of voltage and energy shown in (2), the departure is 9.97%, and the switching times between charge and discharge states is 91 times. Based on the MPC theory and MLD model shown in (12) and (13), a tracking objective function is proposed in (16), the first part of the equation means to stabilize DC bus voltage and the second part is to decrease the switching times of BESS. Suppose weight factors 1 2 1 S S = = , and the optimum values are 82.908J and 67.868J, corresponding to 420V and 380V.…”

“…The MPC method is referred to a set of control design techniques which can be designed and implemented by the following three steps; 1) prediction for the future behavior, 2) optimization to calculate the future inputs, and 3) processing with a certain number of calculated inputs. These three steps are required to perform in each control interval [11][12][13][14]. In paper [15], four different model predictive control synthesis frameworks are proposed for bidirectional DC/DC converter with MPC to achieve stability and desired performance in wide operating range.…”

Predictive‐based optimal automatic formation control of mobile vehicles

“…Model predictive control (MPC) [21][22][23] is regarded as a highly promising control tool, and can be applied to formation control systems. MPC yields an optimal control strategy which minimises evaluations for a given objective function by using a system model, while satisfying constraints for the state, input/ output, and other variables.…”