The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 1P1-Q02
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1P1-Q02 Design of Predictive Functional Control based Critical Control(New Control Theory and Motion Control (1))
Hiroki HARAToshiyuki SATOHNaoki SAITO
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
This paper describes about disturbance observer (DOB)-based predictive functional critical control (PFCC). Generally PFC couldn't handle constraint on controlled output. A few techniques have been proposed but they have each drawback. We propose new control method using critical control for handling constraints. This approach does not increase on-line computational burden. In this paper, we design critical control for disturbance observer based PFC. The effectiveness of the proposed method is checked through an experimental evaluation. Constrains are imposed on the tracking error and controller output.
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© 2014 The Japan Society of Mechanical Engineers
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