Adaptive Model Predictive Control for Nonlinear Elastic Electrical Transmission Servo Drives

This article proposes an approach to design adaptive model predictive controller for elastic electrical transmission servo drives with uncertain parameters. In the first section, we introduce the mathematical state space model of nonlinear multi-mass elastic servo drive control system with taking the backlash and dry Coulomb friction torque into consideration. The next section describes adaptive nonlinear predictive control using extended linearization based state-dependent coefficient matrices. For solving objective function of predicted model, the quadratic programming optimization algorithm is considered. Finally, the proposed controller is tested in simulation of servo position tracking of the large radio telescope RT-70 (the RT-70 antenna). In this work, designing and testing of nonlinear model predictive control are implemented on Matlab/ SIMULINK environment.