Non-linear-disturbance-observer-enhanced MPC for motion control systems with multiple disturbances

DOI10.1049/IET-CTA.2018.5821MaRDI QIDQ6598690zbMATH OpenFDO

Authors Yunda Yan, Jun Yang, Zhenxing Sun, Shihua Li, Haoyong Yu

Publication date 5 September 2024

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2018.5821

zbMATH Keywords

asymptotic stabilitycontrol inputcontrol system synthesisdisturbance estimatesexisting composite MPC methodsfuture tracking errorhigher-order sliding mode disturbance observermachine controlmotion controlmotion control systemsmultiple disturbancesnonlinear control systemsnonlinear-disturbance-observer-enhanced continuous-time modelnonlinear-disturbance-observer-enhanced MPCobserversoptimised tracking problempermanent magnet motorspermanent magnet synchronous motor servo systemposition controlpredictive controlrobot arm systemrough nominal systemservomechanismssynchronous motorsvariable structure systems

Mathematics Subject Classification ID

Variable structure systems (93B12) Model predictive control (93B45) Observers (93B53) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73)

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Cites work

• Combined Design of Disturbance Model and Observer for Offset-Free Model Predictive Control
• Constrained model predictive control: Stability and optimality
• Higher-order sliding modes, differentiation and output-feedback control
• Linear offset-free model predictive control
• Model predictive control system design and implementation using \texttt{MATLAB}
• Nonlinear offset-free model predictive control
• Optimal control of nonlinear systems: A predictive control approach
• The Sensitivity of the Matrix Exponential

Cited in

(5)

• Nonlinear disturbance observer based multiple‐model adaptive explicit model predictive control for nonlinear MIMO system
• Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers
• Stabilization of LTI systems with both uncertainties and external disturbances via DE-based control method
• Taylor-based adaptive sliding mode control method for robot manipulators
• Air-ground trajectory tracking for autonomous mobile robot based on model predictive hybrid tracking control and multiple harmonics time-varying disturbance observer

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