Title :
Application of predictive control for a 2-DOF platform
Author :
Rubio, Francisco R. ; Yanes, José A. ; Vargas, Manuel ; Ortega, Manuel G.
Author_Institution :
Dept. Ingenieria de Sistemas y Automatica, Univ. de Sevilla
Abstract :
This paper presents an experimental study of the position and velocity control system of a 2-degrees-of-freedom platform, through the use of a predictive linear controller, based on control polynomials with constraints. The effect of noise on the control signal is studied as well as different alternatives for reducing it. Different control alternatives are compared on the real system, and the proposed controller is shown to be very appropriate for this type of systems. On top of this, the attained implementation considerably reduces the computation time
Keywords :
control system analysis; controllers; polynomials; position control; predictive control; velocity control; 2-DOF platform; constrained control polynomials; position control system; predictive control; predictive linear controller; velocity control system; Automatic control; Communication system control; Control systems; Cost function; Friction; Noise reduction; Polynomials; Predictive control; Servomechanisms; Velocity control; Constrained Control; Control of Electromechanical Systems; Position and Velocity Control; Predictive Control;
Conference_Titel :
Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on
Conference_Location :
Catania
Print_ISBN :
0-7803-9401-1
DOI :
10.1109/ETFA.2005.1612781
