Robust predictive control for a precise positioning mechanism with nonlinear friction and time-delay

The most common factors that deteriorate the performance of mechatronic systems are friction and dead time components. In this paper, Model Predictive Control (MPC) is the methodology that has been used to obtain a precise positioning of a ball-screw driven mechanism. The design of the proposed cont...

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Bibliographic Details
Published in:	2016 Eighteenth International Middle East Power Systems Conference (MEPCON) pp. 299 - 304
Main Authors:	Faragalla, Asmaa M., Abdelhameed, Esam H., Elgafary, Ahmed A. M.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-12-2016
Subjects:	Control systems Friction Load modeling Model Predictive Control Positioning Mechanisms Precision motion Predictive control Predictive models Robustness Time-delay Vibration modes Vibrations
Online Access:	Get full text
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Summary:	The most common factors that deteriorate the performance of mechatronic systems are friction and dead time components. In this paper, Model Predictive Control (MPC) is the methodology that has been used to obtain a precise positioning of a ball-screw driven mechanism. The design of the proposed controllers relay on a linearized model of the system and system dead time compensation. Responses of the proposed control systems are verified by MATLAB/SIMULINK simulations. Moreover, a comparison has been done between the performance obtained using the proposed controllers and that obtained using a conventional proportional-integral-derivative controller (PID controller), the results shows the effectiveness of the former despite of the friction non-linearity and the existence of dead time.
DOI:	10.1109/MEPCON.2016.7836906