| Title: | OS7-1 Predictive Functional Controller Design with Disturbance Observer and Its Application |
|---|---|
| Publication: | ICAROB2023 |
| Volume: | 28 |
| Pages: | 178-182 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2023.OS7-1 |
| Author(s): | Syota Yoshida, Shin Wakitani |
| Publication Date: | February 9, 2023 |
| Keywords: | Predictive Functional Control (PFC), Disturbance Observer, Dead Time, Model Predictive Control (MPC) |
| Abstract: | This paper discusses a predictive functional controller (PFC) design using a disturbance observer for systems with a dead time. The PFC is a kind of model predictive controller that is an effective method for systems with a dead time. However, in the PFC, the control performance is strongly affected by the accuracy of the designed model. Therefore, this research proposes a method that the PFC maintains good control performance under the modeling error by using the disturbance observer that can estimate the disturbance even if a system has dead time. The effectiveness of the proposed control scheme is evaluated by experimental results. |
| PDF File: | https://alife-robotics.co.jp/members2023/icarob/data/html/data/OS/OS7/OS7-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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