Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances
Abstract
This study addresses the optimised tracking problem for motion control systems with multiple disturbances by a non-linear-disturbance-observer-enhanced continuous-time model predictive control (MPC) method. The core is to predict the future tracking error and desired control input (including the lumped effects of disturbances/uncertainties) in the receding-horizon by a higher-order sliding mode disturbance observer, which is designed based upon...
Paper Details
Title
Non‐linear‐disturbance‐observer‐enhanced MPC for motion control systems with multiple disturbances
Published Date
Jan 1, 2020
Volume
14
Issue
1
Pages
63 - 72
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