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

摘要

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.