Control systems design with high performance and small environmental load based on MPC

• Project/Area Number: 25420191
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Akita Prefectural University
• Principal Investigator: Sato Toshiyuki 秋田県立大学, システム科学技術学部, 准教授 (40315635)
• Co-Investigator(Kenkyū-buntansha): SAITO NAOKI 秋田県立大学, システム科学技術学部, 准教授 (60315645)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000); Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2014: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
• Keywords: 機械力学・制御 / モデル予測制御 / 外乱オブザーバ / 制御工学

Outline of Final Research Achievements

We have developed a mechatronics-oriented model predictive control (MPC) technique in this research. Using the multiple-input-multiple-output state-space MPC, we devised an effective means to constrain the total control input where the MPC control input is computed on the basis of the information on the disturbance observer output. Also, using the predictive functional control (PFC), we developed a two-degree-of-freedom control system which comprises a feedback system with a PFC controller and a feedforward system with a zero phase error tracking controller. It was confirmed that the tracking error was successfully decreased less than 1/15.

Research Products

• [Journal Article] Predictive Functional Control Using State Estimator-Based Internal Model (2016)
  • Author(s): Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga
  • Journal Title: International Journal of Automation and Control Volume: 10
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Control of a two-link manipulator using disturbance observer-based model predictive control (2015)
  • Author(s): 佐藤 俊之，阿部 梨恵，齋藤 直樹，永瀬 純也，嵯峨 宣彦
  • Journal Title: Transactions of the JSME (in Japanese) Volume: 81 Issue: 827 Pages: 15-00084-15-00084
  • DOI: 10.1299/transjsme.15-00084
  • NAID: 130005089684
  • ISSN: 2187-9761
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Design of an Estimator-Based Predictive Functional Control for Ramp Disturbance Suppression (2013)
  • Author(s): 佐藤 俊之，原 裕樹，永瀬 純也，齋藤 直樹，嵯峨 宣彦
  • Journal Title: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C Volume: 79 Issue: 808 Pages: 4890-4900
  • DOI: 10.1299/kikaic.79.4890
  • NAID: 130003386541
  • ISSN: 0387-5024, 1884-8354
  • Peer Reviewed
• [Journal Article] Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System (2013)
  • Author(s): Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga
  • Journal Title: International Journal of Mechanical, Industrial Science and Engineering Volume: 7 Pages: 1044-1049
  • Peer Reviewed
• [Presentation] Disturbance Observer-Based Predictive Functional Control Using Zero Phase Error Tracking Controller (2015)
  • Author(s): Hiroki Hara, Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga
  • Organizer: World Congress on Industrial Control Systems Security
  • Place of Presentation: Heathrow Windsor Marriott Hotel, London
  • Year and Date: 2015-12-14
  • Int'l Joint Research
• [Presentation] Disturbance Observer-Based Model Predictive Control Using Time-Varying Constraints (2015)
  • Author(s): Rie Abe, Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga
  • Organizer: World Congress on Industrial Control Systems Security
  • Place of Presentation: Heathrow Windsor Marriott Hotel, London
  • Year and Date: 2015-12-14
  • Int'l Joint Research
• [Presentation] Predictive Functional Control 制御系に対する予見フィードフォワードコントローラの適用 (2015)
  • Author(s): 原 裕樹，佐藤 俊之，齋藤 直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 京都市勧業館みやこめっせ
  • Year and Date: 2015-05-17
• [Presentation] 外乱オブザーバ併用型モデル予測制御を用いた2リンクマニピュレータの軌道 (2015)
  • Author(s): 阿部 梨恵，佐藤 俊之，齋藤 直樹，永瀬 純也，嵯峨 宣彦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: 京都市勧業館みやこめっせ
  • Year and Date: 2015-05-17
• [Presentation] Predictive functional control of a table drive system using disturbance observer and preview feedforward controller (2015)
  • Author(s): Toshiyuki Satoh, Hiroki Hara, Taishi Sogawa, Naoki Saito, Jun'ya Nagase and Norihiko Saga
  • Organizer: International Conference on Robotics, Mechanics and Mechatronics
  • Place of Presentation: Singapore
  • Year and Date: 2015-03-21 – 2015-03-23
• [Presentation] Model Predictive Control for Mechatronic Systems Based on Disturbance Observer and Time-Variant Input Constraints (2014)
  • Author(s): Toshiyuki Satoh, Rie Abe, Naoki Saito, Jun-ya Nagase and Norihiko Saga
  • Organizer: The 14th Mechatronics Forum International Conference
  • Place of Presentation: Karlstad, Sweden
  • Year and Date: 2014-06-16 – 2014-06-18
• [Presentation] 臨界制御に基づくPredictive Functional Controlの設計 (2014)
  • Author(s): 原 裕樹，佐藤 俊之，齋藤 直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場
  • Year and Date: 2014-05-25 – 2014-05-29
• [Presentation] 外乱オブザーバと時変制約に基づくモデル予測制御系の設計 (2014)
  • Author(s): 阿部 梨恵，佐藤 俊之，齋藤 直樹，永瀬 純也，嵯峨 宣彦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場
  • Year and Date: 2014-05-25 – 2014-05-29
• [Presentation] オブザーバを用いた Predictive Functional Control のランプ状外乱抑圧 (2013)
  • Author(s): 原 裕樹，佐藤 俊之，齋藤 直樹
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: つくば国際会議場
• [Presentation] Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System (2013)
  • Author(s): Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga
  • Organizer: WASET International Conference on Automation and Mechatronics 2013
  • Place of Presentation: Hotel Grand Chancellor, Melborune, Australia