Moving horizon linear quadratic regulator control for ball and plate system with input constraints

被引：0
|
作者：
Han G.-X. [1 ]
Zhao J.-L. [2 ]
Hu Y.-F. [3 ]
机构：
[1] College of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin
[2] College of Electrical Engineering, Northeast Electric Power University, Jilin
[3] College of Communication Engineering, Jilin University, Changchun
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2021年 / 51卷 / 06期
关键词：
Automatic control technology; Ball and plate system; Differential flat; Input constraints; Moving horizon linear quadratic regulator (LQR) control; Variable elliptic domain limits;
D O I：
10.13229/j.cnki.jdxbgxb20200600
中图分类号：
学科分类号：
摘要：
This paper studies the trajectory tracking control of ball and plate system with actuator dynamic being considered. To realize precise trajectory tracking control, three steps are included as following. Firstly, according to the target trajectory, the feedforward control and target state are obtained using differential flatness technology. Secondly, tracking error system is established according to the target state and then a moving horizon Linear-Quadratic Regulator (LQR) controller is designed based on one of three fundamental principles of model predictive control. Thirdly, considering the practical constraints of control inputs, the target controller is achieved by solving Linear Matrix Inequalities(LMIs) under the condition of variable elliptic domain limits. Simulation results show that the closed-loop system has good trajectory tracking performance, steady state performance and robust performance under input constraints. © 2021, Jilin University Press. All right reserved.
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页码：1982 / 1989
页数：7
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