Observer-based fast nonlinear MPC for multi-DOF maglev positioning system: Theory and experiment

• Published in: Control engineering practice Vol. 114; p. 104860
• Main Authors: Zhang, Kaiyang, Xu, Fengqiu, Xu, Xianze
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.09.2021
• Subjects: Magnetically levitated positioning system; Motion control; Nonlinear disturbance observer; Nonlinear model predictive control; Real-time optimization; Real-time optimization; Magnetically levitated positioning system; Nonlinear model predictive control; Motion control; Nonlinear disturbance observer

This paper presents an observer-based fast nonlinear model predictive control (NMPC) scheme for translation control of magnetically levitated (maglev) positioning system subject to input saturation. The motivation lies in the improvement of transient characteristics and control performance for posit...