A Self Detection and Compensation of Actuator Backlash in the Framework of Constrained MPC Design

H., Zabiri and Y., Samyudia (2004) A Self Detection and Compensation of Actuator Backlash in the Framework of Constrained MPC Design. In: 2004 5th Asian Control Conference , 20 July 2004 through 23 July 2004, Melbourne, Australia.

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In this paper, we present a so-called self detection and estimation scheme for the on-line implementation of our Mixed Integer Quadratic Programming (MIQP)-based design of MPC, which addresses simultaneously the actuator saturation and backlash nonlinearity. The estimation scheme is required to determine a set of design parameters required by the MIQP-based MPC for compensating for the backlash effect. The scheme automatically locates the backlash in actuators, and then estimates the size of its dead-band, from the on-line measurements of plant inputs. We illustrate the application of the proposed method to the control of composition and liquid levels in a paper machine head-box system, where the MIQP-based MPC design equipped with the on-line detection and estimation scheme is able to compensate for the backlash effects, and then to regain its nominal performance in the presence of actuator backlash.

Item Type: Conference or Workshop Item (Poster)
Uncontrolled Keywords: Engineering controlled terms: Actuators; Estimation; Nonlinear control systems; Online systems; Process control; Quadratic programming; Uncertain systems Engineering uncontrolled terms: Actuator saturation; Backlash nonlinearity; Mixed integer quadratic programming (MIQP); Model predictive control (MPC) Engineering main heading: Predictive control systems
Subjects: T Technology > TP Chemical technology
Departments / MOR / COE: Departments > Chemical Engineering
Depositing User: Haslinda Zabiri
Date Deposited: 28 Dec 2010 07:03
Last Modified: 19 Jan 2017 08:27
URI: http://scholars.utp.edu.my/id/eprint/3741

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