Model predictive heuristic control of a position servo system in robotics application

摘要

A recently proposed method of control, namely model algorithmic control (MAC) or, equivalently, model predictive heuristic control (MPHC) is analyzed with a view to its implementation for the position control system. The formulation of the MPHC strategy to positional servo system is presented; both the regulators and the tracking problems are studied and the simulation and experimental results obtained indicate that the MPHC results in a good performance even under the conditions of large time-varying changes in the parameters of the system.