Conveyor belt drive systems require accurate speed regulation despite disturbances and parameter uncertainty. This study presents the design and evaluation of a Model Predictive Control with Disturbance Observer (MPC--DO) and a Robust Model Predictive Control with Disturbance Observer (RMPC--DO) for a two-mass conveyor drive system. A disturbance observer is incorporated to estimate and compensate for unknown load disturbances. 16-vertex polytopic uncertainty model used to represent variations in inertia and belt stiffness. A robust state-feedback gain RMPC framework is synthesized through linear matrix inequality (LMI) techniques to guarantee closed-loop stability across the uncertainty set. The proposed controllers are evaluated in MATLAB through setpoint-tracking and disturbance-rejection simulations. Results show that MPC--DO significantly outperforms PI control. Furthermore, RMPC--DO maintains consistent performance under parameter variations and preserves closed-loop stability across all admissible uncertainty scenarios, demonstrating its effectiveness for robust conveyor drive control.
Existing Sparse Identification of Nonlinear Dynamics (SINDy)–based flight-control studies for fixed-wing aircraft have offered limited treatment of longitudinal–lateral coupling and explicit disturbance estimation, while nonlinear model predictive control remains highly sensitive to aerodynamic-model fidelity. This stu...
Min-Woo Kang, Jayden Dongwoo Lee, Seonghun Yun et al.· Journal of Aerospace Informa...· 0 citations
This article presents a novel switched robust model predictive control (SR-MPC) framework for uncertain systems with structured feedback uncertainty. Unlike traditional approaches, this proposed framework uniquely unifies the Lyapunov-Metzler stability theorem with linear fractional representation to ensure robust stab...
Luis Carvalho, M. Costa, Leonardo H. Macedo et al.· IEEE Access· 0 citations
This paper investigates the output regulation problem using an observer-based inverse optimal controller within the nonlinear servomechanism framework for asymptotic convergence to desired references and rejection of time-varying disturbances generated by an exosystem. To address the practical constraint of full-state...
During trajectory tracking, a Proportional-Integral-Derivative (PID) control system for DC motors may exhibit unacceptably large tracking errors when exposed to severe, sudden time-varying disturbance torques. To address this, a PIDA (Proportional-Integral-Derivative-Acceleration) controller is constructed by augmentin...
This paper investigates a disturbance observer combined with model predictive control (MPC) for trajectory tracking of quadrotor UAVs against model parameter perturbations, unmolded dynamics and external wind disturbances in complex low-altitude scenarios. Based on the small attitude angle assumption, the nonlinear dyn...
Hui Jia, Xiao-Wei Wei, Wei-Chao Li et al.· International Symposium on S...· 0 citations
This paper develops a robust safety tracking control framework for unmanned aerial helicopter (UAH) systems subject to output constraints, input saturation, and external disturbances. To achieve this objective, a prescribed-time disturbance observer (PTDO) is first designed to estimate and compensate for unknown distur...
Biao Ma, Mou Chen, Mihai Lungu· IEEE Transactions on Automat...· 0 citations
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