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

DOI10.1049/iet-cta.2018.5821zbMATH Open1544.93178MaRDI QIDQ6598690

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

Publication date: 5 September 2024

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

zbMATH Keywords

observersasymptotic stabilitynonlinear control systemspredictive controlvariable structure systemsmotion controlposition controlmultiple disturbancescontrol inputpermanent magnet synchronous motor servo systemsynchronous motorscontrol system synthesisservomechanismspermanent magnet motorsmotion control systemsmachine controldisturbance estimatesexisting composite MPC methodsfuture tracking errorhigher-order sliding mode disturbance observernonlinear-disturbance-observer-enhanced continuous-time modelnonlinear-disturbance-observer-enhanced MPCoptimised tracking problemrobot arm systemrough nominal system

Mathematics Subject Classification ID

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

Cites Work

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

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