日本機械学会論文集
Online ISSN : 2187-9761
ISSN-L : 2187-9761
機械力学,計測,自動制御,ロボティクス,メカトロニクス
外乱オブザーバを用いた外乱除去機構を有するモデル予測制御に基づくOffset-free移動制御
大平 峻島田 明
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ジャーナル フリー

2017 年 83 巻 856 号 p. 17-00276

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This study proposes a movement control system based on model predictive control (MPC) with state expressed identity disturbance observer (DOB). The proposed controller removes tracking errors of control variables due to disturbance influences. The DOB estimates the motion state as well as the disturbance acted to controlled plant. This paper assumes two types of disturbances acted to control input and to control output. The input disturbance is a steady and the output disturbance is not always steady. The presented MPC system including the DOB is robust and it suppresses disturbances via the special design method. The feasibility of the MPC-based control system is conrmed in the situation under the input and output disturbances. Finally, the proposed method is evaluated via the simulation related to a cart traveling along a straight line.

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