Yan, Yunda;
Yang, Jun;
Sun, Zhenxing;
Li, Shihua;
Yu, Haoyong;
(2020)
Non-linear-disturbance-observer-enhanced MPC for motion control systems with multiple disturbances.
IET Control Theory and Applications
, 14
(1)
pp. 63-72.
10.1049/iet-cta.2018.5821.
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Abstract
This study addresses the optimised tracking problem for motion control systems with multiple disturbances by a nonlinear-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.
| Type: | Article |
|---|---|
| Title: | Non-linear-disturbance-observer-enhanced MPC for motion control systems with multiple disturbances |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1049/iet-cta.2018.5821 |
| Publisher version: | https://doi.org/10.1049/iet-cta.2018.5821 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | nonlinear control systems, synchronous motors, servomechanisms, position control, asymptotic stability, permanent magnet motors, predictive control, machine control, motion control, variable structure systems, observers, control system synthesis, motion control systems, multiple disturbances, nonlinear-disturbance-observer-enhanced continuous-time model, future tracking error, control input, higher-order sliding mode disturbance observer, rough nominal system, existing composite MPC methods, disturbance estimates, position control, robot arm system, permanent magnet synchronous motor servo system, nonlinear-disturbance-observer-enhanced MPC, optimised tracking problem |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10188767 |
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