Offset-free tracking movement control based on model predictive control with disturbance suppression using disturbance observer

Abstract

This study proposes a movement control system based on model predictive control (MPC) with state expressed identity disturbance observer (DOB). The proposed controller removes tracking errors of control variables due to disturbance influences. The DOB estimates the motion state as well as the disturbance acted to controlled plant. This paper assumes two types of disturbances acted to control input and to control output. The input disturbance is a steady and the output disturbance is not always steady. The presented MPC system including the DOB is robust and it suppresses disturbances via the special design method. The feasibility of the MPC-based control system is conrmed in the situation under the input and output disturbances. Finally, the proposed method is evaluated via the simulation related to a cart traveling along a straight line.

Keywords

• model predictive control
• disturbance observer
• offset-free tracking control
• disturbance suppression
• motion control
• multivariable control
• movement control