Title :
MPC for a simplified transmission model with backlash using UKF
Author :
Saito, M. ; Yamakita, M.
Author_Institution :
Dept. of Mech. and Ctrl. Eng., Tokyo Inst. of Tech., 2-12-1 Oh-Okayama, Meguro-ku, Japan
Abstract :
Backlash mechanisms can be seen in many mechanical systems and they may deteriorate the performance of the systems. So the control of the backlash is very important for practical applications. In this paper we propose a control method for a simplified transmission system with the backlash using a Model Predictive Control (MPC) and Unscented Kalman filter(UKF). The efficiency of the proposed method will be demonstrated using a simplified transmission model numerically.
Keywords :
Actuators; Control systems; Damping; Kalman filters; Mechanical systems; Numerical models; Predictive control; Predictive models; Shock absorbers; State estimation;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776701