DocumentCode
2642039
Title
MPC for a simplified transmission model with backlash using UKF
Author
Saito, M. ; Yamakita, M.
Author_Institution
Dept. of Mech. and Ctrl. Eng., Tokyo Inst. of Tech., 2-12-1 Oh-Okayama, Meguro-ku, Japan
fYear
2006
fDate
4-6 Oct. 2006
Firstpage
527
Lastpage
532
Abstract
Backlash mechanisms can be seen in many mechanical systems and they may deteriorate the performance of the systems. So the control of the backlash is very important for practical applications. In this paper we propose a control method for a simplified transmission system with the backlash using a Model Predictive Control (MPC) and Unscented Kalman filter(UKF). The efficiency of the proposed method will be demonstrated using a simplified transmission model numerically.
Keywords
Actuators; Control systems; Damping; Kalman filters; Mechanical systems; Numerical models; Predictive control; Predictive models; Shock absorbers; State estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location
Munich, Germany
Print_ISBN
0-7803-9797-5
Electronic_ISBN
0-7803-9797-5
Type
conf
DOI
10.1109/CACSD-CCA-ISIC.2006.4776701
Filename
4776701
Link To Document