Movement Control Based on Model Predictive Control with Disturbance Suppression using Kalman Filter including Disturbance Estimation

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2018/09/01

タイトル(英語): Movement Control Based on Model Predictive Control with Disturbance Suppression using Kalman Filter including Disturbance Estimation

著者名: Takashi Ohhira (Graduate School of Shibaura Institute of Technology), Akira Shimada (Department of Engineering and Design, Shibaura Institute of Technology)

著者名(英語): Takashi Ohhira (Graduate School of Shibaura Institute of Technology), Akira Shimada (Department of Engineering and Design, Shibaura Institute of Technology)

キーワード: model predictive control (MPC)，Kalman filter (KF)，disturbance estimation，disturbance suppression，motion control，multivariable control

要約(英語): This study proposes a movement control system based on model predictive control (MPC), and a Kalman filter (KF) that can consider the influences of noise and disturbance. The KF estimates not only the motion state but also the disturbance of the controlled objects affected by noise. Disturbance is introduced by the stationary disturbance, by the system noise, and by observation noise. An MPC system filtered by the KF is robust and suppresses disturbances using the special design method proposed in this study. The feasibility of the MPC-based control system is confirmed under conditions of strong intermittent disturbances, such as road surface and sensor noises, and a friction force with less time variation. Finally, the proposed method is tested in simulations of a cart traveling in a straight line. The superior simulation results over the existing MPC system validate the proposed control system.

本誌: IEEJ Journal of Industry Applications Vol.7 No.5 （2018）

本誌掲載ページ: 387-395 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/7/5/7_387/_article/-char/ja/