A constrained Model Predictive Control for Dual-Stage Actuator systems with improved tracking performance

2016 ◽  
pp. 433-436
Author(s):  
Chi-Ying Lin ◽  
Chih-Yuan Chang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Tracking Performance ◽  
Dual Stage ◽  
Constrained Model ◽  
Constrained Model Predictive Control ◽  
Dual Stage Actuator

scholarly journals Coordinated Control of a Dual-Stage Positioning System Using Constrained Model Predictive Control

2014 ◽  
Author(s):  
Sohrab Haghighat ◽  
Stefano Di Cairano ◽  
Dmytro Konobrytskyi ◽  
Scott Bortoff
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Manufacturing Systems ◽  
Positioning System ◽  
Positioning Systems ◽  
Model Predictive Control Algorithm ◽  
Dual Stage ◽  
Constrained Model ◽  
Constrained Model Predictive Control

Dual-stage positioning systems have been widely used in factory automation, robotic manipulators, high-density data storage systems, and manufacturing systems. Trajectory generation and control of dual-stage positioning systems is of great importance and is made complicated by the presence of physical and operational constraints. In this work, we describe how to generate feasible reference trajectories for a dual-stage positioning system consisting of a fine stage and a coarse stage, and how to use them in a model predictive control algorithm for which recursive feasibility is guaranteed. The reference generation algorithm is guaranteed to generate trajectories that satisfy all the constraints for the fine and coarse stages. We also describe a constrained model predictive control algorithm used to control the coarse stage. The simulation results of applying the developed methodology to track a pre-determined pattern is presented.

scholarly journals On Modeling and Constrained Model Predictive Control of Open Irrigation Canals

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Lihui Cen ◽  
Ziqiang Wu ◽  
Xiaofang Chen ◽  
Yanggui Zou ◽  
Shaohui Zhang
Keyword(s):  
Model Predictive Control ◽  
Prediction Model ◽  
Predictive Control ◽  
Hyperbolic Partial Differential Equations ◽  
Irrigation Canal ◽  
Irrigation Canals ◽  
Optimal Control Algorithms ◽  
Saint Venant Equations ◽  
Constrained Model ◽  
Constrained Model Predictive Control

This paper proposes a model predictive control of open irrigation canals with constraints. The Saint-Venant equations are widely used in hydraulics to model an open canal. As a set of hyperbolic partial differential equations, they are not solved explicitly and difficult to design optimal control algorithms. In this work, a prediction model of an open canal is developed by discretizing the Saint-Venant equations in both space and time. Based on the prediction model, a constrained model predictive control was firstly investigated for the case of one single-pool canal and then generalized to the case of a cascaded canal with multipools. The hydraulic software SICC was used to simulate the canal and test the algorithms with application to a real-world irrigation canal of Yehe irrigation area located in Hebei province.

Constrained model predictive control: Stability and optimality

Automatica ◽  
2000 ◽  
Vol 36 (6) ◽  
pp. 789-814 ◽  
Author(s):  
D.Q. Mayne ◽  
J.B. Rawlings ◽  
C.V. Rao ◽  
P.O.M. Scokaert
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Constrained Model ◽  
Constrained Model Predictive Control ◽  
Control Stability
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