Nonlinear model predictive motion control of linear motor drive for micro/nano-positioning applications

Ager Paul*, ibrahim Beklan Kucukdemiral, Gerain Bevan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper presents an offset-free nonlinear model predictive controller (NMPC) for linear motor drive system which have been proposed to address the challenges of their rotary counterparts in precision linear motion control. The main challenges associated with the linear motors is that they are more sensitive to disturbances and parameter variations. The frictional force which affects the drive system is nonlinear and discontinuous. Since it is not possible to generate a discontinuous motor force to achieve desired tracking control, a continuous friction model is used to approximate the actual discontinuous friction model. Extant studies [1], [2] proposed predictive control of linear motors but focused on positioning in the meter range. Here, we propose an offset-free NMPC for micro-positioning applications in which the unmodelled nonlinear functions and the external disturbances are modelled as the integrating disturbance state that is estimated using an extended Kalman filter while the inherent robustness of NMPC is relied on to handle the parametric uncertainties. Numerical simulations are used to show the effectiveness of NMPC in controlling the linear drive system for precise motion tracking in the micrometer range.
Original languageEnglish
Title of host publication2022 4th International Conference on Electrical, Control and Instrumentation Engineering (ICECIE)
Place of PublicationMalaysia
PublisherIEEE
Pages1-7
Number of pages7
ISBN (Electronic)9781665480765
ISBN (Print)9781665480772
DOIs
Publication statusPublished - 5 Jan 2023
EventInternational Conference on Electrical, Control and Instrumentation Engineering - Hotel Stripes Autograph Collection, Kuala Lumpur, Malaysia
Duration: 26 Nov 202226 Nov 2022
Conference number: 4
https://2022.icecie.com/ (Link to conference website)

Publication series

Name
ISSN (Print)2832-9821
ISSN (Electronic)2832-9848

Conference

ConferenceInternational Conference on Electrical, Control and Instrumentation Engineering
Abbreviated titleICECIE 2022
Country/TerritoryMalaysia
CityKuala Lumpur
Period26/11/2226/11/22
Internet address

ASJC Scopus subject areas

  • Control and Systems Engineering

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