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Qiu, Li; Yang, Xiaomei; Ahsan, Usama; Pan, Jianfei; Zhang, Bo; Yang, Rong

Model predictive position tracking control for motion system with random communication delay. (English) Zbl 1542.93096

IET Control Theory Appl. 14, No. 20, 3515-3525 (2020).
Summary: This study focuses on position tracking control for the networked predictive motion control system with random communication delay. First, the output feedback controller is designed by networked predictive control law to actively compensate the time delay induced by the random channels of the motion control system. A closed-loop model is established for the networked predictive motion control system with random bounded communication delay, modelled by a Markov chain. Then, the sufficient conditions of stability for the networked predictive motion control system are provided, by constructing the Lyapunov-Krasovskii functional, followed by the theoretical proof. Furthermore, the output feedback controller is constructed and the linear matrix inequality method is applied to obtain the designed controller gain. Last, the simulation and experimental results are presented to prove the effectiveness of the proposed method.
© 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology

MSC:

93B45 Model predictive control
93B52 Feedback control
93B70 Networked control
93E03 Stochastic systems in control theory (general)
93C43 Delay control/observation systems

Keywords:

delays; stability; feedback; time-varying systems; Lyapunov methods; predictive control; nonlinear control systems; position control; control system synthesis; closed loop systems; motion control; Markov processes; linear matrix inequalities; random communication delay; output feedback controller; networked predictive control law; networked predictive motion control system; random bounded communication delay; designed controller gain; model predictive position tracking control; motion system
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References:

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