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Model predictive control with repetitive control for periodic signal tracking and constraint handling of fast sampled-data control systems

机译:用于快速采样数据控制系统的周期性信号跟踪和约束处理的重复控制模型预测控制

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This paper presents design and implementation of model predictive control with repetitive control for periodic signal tracking and constraint handling of fast sampled-data systems. An internal model based discrete time repetitive control law is integrated with the model predictive controller and the original problem is then transformed to a quadratic programming problem to deal with the given constraints. This heavy computational control was implemented on a piezo-actuated system at a 10 kHz sampling rate. The experimental results demonstrate the feasibility and effectiveness of the proposed approach for asymptotic error tracking of periodic reference profiles with constraint handling.
机译:本文介绍了模型预测控制的设计和实现,重复控制了快速采样数据系统的周期性信号跟踪和约束处理。基于内部模型的离散时间重复控制定律与模型预测控制器集成,然后将原始问题转换为二次编程问题,以处理给定的约束。这种重型计算控制以10kHz采样率的压电系统实现。实验结果表明,具有约束处理的周期性参考概况的渐近误差跟踪的所提出方法的可行性和有效性。

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