A Repetitive Model Predictive Control Approach for Precision Tracking of a Linear Motion System
Runzi Cao; Kay-Soon Low
Industrial Electronics, IEEE Transactions on
Volume 56, Issue 6, June 2009 Page(s):1955 - 1962
Digital Object Identifier   10.1109/TIE.2008.2007034
Summary:In this paper, a new model predictive control (MPC) approach suitable for high precision linear motion drive operating with repetitive tracking tasks is presented. For the proposed predictive controller, the feedforward controller of the conventional MPC has been modified to provide zero-phase learning property. This is achieved by augmenting the reference trajectory with a phase-compensated term that is updated with the historical tracking error. The proposed approach attempts to combine the merits of both the conventional MPC and repetitive control schemes. Experimental results have demonstrated that the system effectively reduces the tracking error from the periodic disturbance caused by the friction. Its performance under varying reference conditions and different loadings shows that the system is robust.

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