Prediction-Based Control for Uncertain Systems With Input Time Delay and Disturbance

This paper presents a new concept of a predictive controller utilizing future reference trajectory to reduce the delay effect. Time delay critically affects mechatronics systems, and it is still a remaining issue that must be solved. However, existing controllers have a limitation of input type as a constant desired trajectory, and it may limit implementation into various applications. The controller in the paper overcomes the limitation and is capable of tracking time-varying trajectories. The simulation results show that the controller can be applied to more general trajectories for practical applications.