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Author: search.filters.author.Benjanarasuth, TawornSubject: search.filters.subject.Explicit MPC

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    Robust hybrid control for two-dimensional handheld micromanipulator
    (2014-01-01)
    Boksuwan, Sungwan
    ;
    Benjanarasuth, Taworn
    ;
    Kanamori, Chisato
    ;
    Aoyama, Hisayuki
    This paper proposes a two-dimensional handheld mi-cromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator.
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    Robust real-time model predictive control for torsional vibration system
    (2012-01-01)
    Boksuwan, Sungwan
    ;
    Benjanarasuth, Taworn
    In this paper, explicit, robust Model Predictive Control (MPC) is proposed for the control of a two-mass system in order to achieve not only good tracking performance and load-change effect rejection, but also low torsional vibration, when the measurement noise contains outliers. The control structure presented in this paper is based fundamentally on the combination of explicit MPC and region detection via a self-optimizing variable. In addition, the well-known Kalman filter is replaced by the robust Kalman filter to deal with the outlier signals. The effectiveness of the proposed method is compared with a PID-based control.