Improving Tracking Performance of Predictive Functional Control Using Disturbance Observer and Its Application to Table Drive Systems
Keywords:predictive functional control, disturbance observer, table drive system, model predictive control
A practical approach for improving tracking performance of the predictive functional control (PFC) is proposed. The disturbance observer is utilized to nominalize the actual plant and to reduce the predicted output error in the PFC algorithm by canceling not only constant but also high-order disturbances. The proposed control scheme is experimentally validated on a single axis table drive system and is compared with the standard PFC and the industrial cascade control. The experimental results prove the effectiveness of the proposed disturbance observer-based PFC scheme.
S. Abu el Ata-Doss, P. Fiani and J. Richalet, "Handling input and state constraints in predictive functional control," Proc. of the 30th Conference on Decision and Control, pp. 985-990, Brighton, England, 1991. http://dx.doi.org/10.1109/CDC.1991.261472
N. Bigdeli and M. Haeri, Predictive functional control for active queue management in congested TCP/IP networks, ISA Transactions, vol. 48, no. 1, pp. 107-121, 2009. http://dx.doi.org/10.1016/j.isatra.2008.10.001
J.Y. Dieulot, T. Benhammi, F. Colas, P.J. Barre, Composite predictive functional control strategies, application to positioning axes, International Journal of Computers, Communications & Control, vol. III, no. 1, pp. 41-50, 2008.
D. DovÅ¾an and I. Å kjrank, Predictive functional control based on an adaptive fuzzy model of a hybrid semi-batch reactor, Control Engineering Practice, vol. 18, no. 8, pp.979-989, 2010. http://dx.doi.org/10.1016/j.conengprac.2010.04.004
M. Hadjiski and V. Asenov, Predictive functional control using a blending approach, Cybernetics and Information Technologies (Bulgarian Academy of Science), vol. 5, no. 2, pp. 32-41, 2005.
C. Johnson, "Accommodation of external disturbances in linear regulator and servomechanism problems," IEEE Transactions on Automatic Control, vol. 16, no. 6, pp. 635-644, 1971. http://dx.doi.org/10.1109/TAC.1971.1099830
M. LepetiË‡c, I. Å krjanc, H. G. Chiacchiarini and D. Matko, Predictive functional control based on fuzzy model: comparison with linear predictive functional control and PID control, Journal of Intelligent and Robotic Systems, vol. 36, pp. 467-480, 2003. http://dx.doi.org/10.1023/A:1023685505300
M. Primucci and M. Basualdo, Thermodynamic predictive functional control applied to CSTR with jacket system, Proc. of IFAC 15th Triennial World Congress, Barcelona, Spain, 2002.
E. Schrijver and J. van Dijk, "Disturbance observers for rigid mechanical systems: equivalence, stability, and desigh," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 124, pp. 539-548, 2002. http://dx.doi.org/10.1115/1.1513570
I. Å krjanc and D. Matko, Predictive functional control based on fuzzy model for heat-exchanger pilot plant, IEEE Transactions on Fuzzy Systems, vol. 8, no. 6, pp. 705-712, 2000. http://dx.doi.org/10.1109/91.890329
J. Richalet, S. Abu el Ata-Doss, C. Arber, H.B. Kuntze, A. Jacubasch and W. Schill, Predictive functional control: application to fast and accurate robot, Proc. of IFAC 10th World Congress, Munich, Germany, 1987.
J. Richalet, Industrial applications of model based predictive control, Automatica, vol. 29, no. 5, pp. 1251-1274, 1993. http://dx.doi.org/10.1016/0005-1098(93)90049-Y
J. Richalet and D. O'donovan, Predictive Functional Control: Principles and Industrial Applications. London, England: Springer-Verlag, 2009. http://dx.doi.org/10.1007/978-1-84882-493-5
J. M. Maciejowski, Predictive Control with Constraints. Harlow, England: Pearson Education, 2002.
K. Ohishi, M. Nakao, K. Ohnishi and K. Miyachi, Microprocessor-controlled DC motor for loadinsensitive position servosystem, IEEE Transactions on Industrial Electronics, vol. 34, no. 1, pp.44- 49, 1987. http://dx.doi.org/10.1109/TIE.1987.350923
T. Murakami and K. Ohnishi, Advanced motion control in mechatronics - A tutorial, Proc. of the IEEE International Workshop on Intelligent Control, Istanbul, Turkey, vol. 1, pp. SL9-SL17, 1990.
E. G. Papadopoulos and G. C. Chasparis, Analysis and model-based control of servomechanisms with friction, ASME Journal of Dynamic Systems, Measurement, and Control, pp. 911-915, 2004. http://dx.doi.org/10.1115/1.1849245
T. Satoh, N. Saito and N. Saga, Predictive functional control with disturbance observer for pneumatic artificial muscle actuator, Proc. of the 1st International Conference on Applied Bionics and Biomechanics, Venice, Italy, no page number, 2010.
T. Umeno and Y. Hori, Robust speed control of DC servomotors using modern two-degrees-offreedom controller design, IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 363-368, 1991. http://dx.doi.org/10.1109/41.97556
A. Vivas and P. Poignet, Model based predictive control of a fully parallel robot, Control Engineering Practice, vol. 13, no. 7, pp. 863-874, 2005. http://dx.doi.org/10.1016/j.conengprac.2004.10.001
ONLINE OPEN ACCES: Acces to full text of each article and each issue are allowed for free in respect of Attribution-NonCommercial 4.0 International (CC BY-NC 4.0.
You are free to:
-Share: copy and redistribute the material in any medium or format;
-Adapt: remix, transform, and build upon the material.
The licensor cannot revoke these freedoms as long as you follow the license terms.
DISCLAIMER: The author(s) of each article appearing in International Journal of Computers Communications & Control is/are solely responsible for the content thereof; the publication of an article shall not constitute or be deemed to constitute any representation by the Editors or Agora University Press that the data presented therein are original, correct or sufficient to support the conclusions reached or that the experiment design or methodology is adequate.