Model predictive control for time-optimal point-to-point motion control

This paper presents a time-optimal model predictive control approach, which is a new type of MPC approach for motion systems that aims at performing time-optimal point-to-point motions. It is shown how the structure of the underlying optimal control problem can be exploited such that it can be solved in real-time at a sampling rate of 200 Hz. Numerical and experimental validation on a linear motor drive system and comparison with traditional MPC and linear control techniques clearly demonstrate the advantages of time-optimal model predictive control. © 2011 IFAC.

ISBN:9783902661937

Publication year:2011

Accessibility:Closed