Predictive and time delay control of transmission mechanisms

A control strategy, which combines predictive control with zero phase error tracking controller (ZPETC) and time delay scheme, is developed to overcome positioning and tracking difficulties for transmission mechanism with friction. Time delay control is used to cancel disturbances and potential nonlinearities. Predictive control uses future and past information to maintain servo performance, regulator performance and robust stability under the influence of disturbance and measurement noise. ZPETC is included to improve the overall system bandwidth. A cycloidal velocity profile is used to generate smooth reference motion to avoid saturating the actuator. Realistic numerical simulations that considered the effect of sampling, quantization and friction were performed to investigate the effectiveness of the proposed control scheme. Encouraging transient response and steady-state control performance were observed in the results of positioning control simulation of a one-dimensional transmission mechanism