Cross-Coupled Model Predictive Control for Multi-axis Coordinated Motion Systems

A cross-coupled model predictive controller for multi-axis coordinated motion systems is presented by incorporating cross-coupled strategy into the model predictive control architecture. The control law is generated by minimizing a cost function for the augmented system model in which the synchronization errors are embedded. Simulation and experimental results conducted on a high-precision positioning system with two permanent magnet linear motors (PMLMs) demonstrate the effectiveness of the proposed approach.