运动控制系统中基于模型的预测、预览和鲁棒控制

M. Tomizuka
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引用次数: 49

摘要

本文介绍了数学模型在各种基于模型的控制方案中的作用,如预测控制和预览控制。为了防止这些控制方法在存在模型不确定性和干扰时性能的恶化,可以利用基于模型的状态估计、干扰估计和参数识别方法来获得鲁棒高性能运动控制系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Model based prediction, preview and robust controls in motion control systems
This paper describes the role of mathematical models in various model-based control schemes such as predictive control and preview control. To prevent the deterioration of performance of these control approaches in the presence of model uncertainties and disturbances, model based methods for state estimation, disturbance estimation and parameter identification may be utilized to obtain robust high performance motion control system.
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