Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System
This paper addresses a control system design for a table drive system based on the disturbance observer (DOB)-based predictive functional critical control (PFCC). To empower the previously developed DOB-based PFC to handle constraints on controlled outputs, we propose to take a critical control approach. To this end, we derive the transfer function representation of the PFC controller and yield a detailed design procedure. The effectiveness of the proposed method is confirmed through an experimental evaluation.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1089511Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1510
 S. Abu el Ata-Doss, P. Fiani and J. Richalet, "Handling input and state constraints in predictive functional control,” Proc. of the 30th Conference on Decision and Control, pp. 985-990, Brighton, England, 1991.
 P. G. Lane, "Design of control systems with inputs and outputs satisfying certain bounding conditions,” Ph. D. thesis, University of Manchester Institute of Science and Technology, Manchester, U.K., 1992.
 A. Matsubara, Design and Control of Precision Positioning and Feed Drive systems. Tokyo, Japan: Morikita Publishing, 2008. (in Japanese)
 J. Richalet, S. Abu el Ata-Doss, C. Arber, H.B. Kuntze, A. Jacubasch and W. Schill, "Predictive functional control: application to fast and accurate robot,” Proceedings of IFAC 10th World Congress, Munich, Germany, pp. 251-258, 1987.
 J. Richalet and D. O’donovan, Predictive Functional Control: Principlesand Industrial Applications. London, England: Springer-Verlag, 2009.
 T. Satoh, K. Kaneko and N. Saito, "Improving tracking performance of predictive functional control using disturbance observer and its application to table drive systems,” International Journal of Computers Communications & Control, vol. 7, no. 3, pp. 550-564, 2012.
 T. Satoh, N. Saito and N. Saga, "Predictive functional control with disturbance observer for pneumatic artificial muscle actuator,” Proceeding of the 1st International Conference on Applied Bionics and Biomechanics, Venice, Italy, no page number, 2010.
 W. Silpsrikul and S. Arunsawatwong, "Computation of peak output for inputs restricted in L2 and L∞ norms using finite difference schemes and convex optimization,” International Journal of Automation and Computing, vol. 6, no. 1, pp. 7-13, 2009.
 T. Umeno and Y. Hori, Robust speed control of DC servomotors using modern two-degrees-of-freedom controller design, IEEE Transactions on Industrial Electronics, vol. 38, no. 5, pp. 363-368, 1991.
 V. Zakian, "New formulation for the method of inequalities,” Proceedings, IEE, vol. 126, pp. 579-584, 1979.
 V. Zakian, "Critical systems and tolerable inputs,” International Journal of Control, vol. 49, no. 4, pp. 1285-1289, 1989.
 V. Zakian, "Perspectives on the principle of matching and the method of inequalities,” International Journal of Control, vol. 65, no. 1, pp. 147-175, 1996.
 R. Zhang, A. Xue, S. Wang and J. Zhang, "An improved state-space model structure and a corresponding predictive functional control design with improved control performance,” International Journal of Control, vol. 85, no. 8, pp. 1146-1161, 2012.