Repetitive model predictive control for precise control of complex trajectory tracking in dual-stage actuator systems

This article presents a predictive control methodology for the precise tracking of complex reference commands in dual-stage actuator systems. To improve synchronized motion control performance, a cost function was applied to account for dual-stage actuator tracking error as well as tracking error in the first-stage actuator. The dual-stage actuator control system uses repetitive model predictive control with two repetitive controllers to reduce the occurrence of periodic errors. As in precision machining, a complex reference trajectory containing two dynamic tracking signals with non-trivial magnitude and frequency orders in a motor/piezoelectric-driven dual-stage actuator system was used to evaluate the practicability of the proposed repetitive model predictive control method. Experimental results demonstrate the efficacy of the proposed repetitive model predictive control system in enhancing the periodic tracking control of dual-stage actuator systems, even when subjected to persistent short pulse disturbance.