Original paper
Disturbance Observer Based Model Prediction Control for a 2-DOF Nanopositioning Stage
Published: Oct 1, 2019
Abstract
To compensate the nonlinear effects of a nanopositioning stage and its model uncertainties, this paper presents a composite controller by integrating disturbance observer (DOB) and model prediction control (MPC). The nonlinearity and dynamic cross-coupling effects are treated as unknown disturbances to the system, and a DOB is used to partially estimate and compensate the disturbance to improved performance. A MPC is commonly used to track a...
Paper Details
Title
Disturbance Observer Based Model Prediction Control for a 2-DOF Nanopositioning Stage
Published Date
Oct 1, 2019
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Notes
History