Modeling and Control of Precision Actuators

5

Model Predictive Control of Precise Actuators

In the preceding two chapters, identification techniques were applied to obtain the nonlinear dynamics and the controller designed to compensate the effects of these nonlinearities, such as hysteresis, friction, and ripple forces. However, constraints on the precise actuator inputs, states, and outputs are not addressed in these methods. It is well known that the control of a typical actuator often lies at the intersection of constraints. Model predictive control (MPC) has become a standard approach to solve control problems with constraints in a wide range of application. This chapter will present the use of MPC formulation to control a class of precise actuators, called the ultrasonic motor ...