Motion Control for a Laser Beam Steering System: An ADRC and Predictive Control Based Approach

Resumen: This paper presents the design of a model predictive control (MPC) strategy applied to an optomechatronic system whose objective is to regulate the position of a laser beam system (LBS). The control scheme considers the system model and considers the existence of external disturbances. The feedback control gain is computed by minimizing an objective function of the state and the control prediction horizon. Unlike the reported works for this optomechatronic system, the proposed control scheme considers constraints on the control signal and the system output. The perturbation is estimated by an extended state observer (ESO) and rejected by a pre-compensation term. Numerical simulations validate the strategy design and allow conclusions for future real-time implementation.

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Namigtle Jimenez, Alfredo; Guerrero-Castellanos, J. Fermi; Enriquez Caldera, Rogerio Adrian; Castellanos Velasco, Ernesto. Motion Control for a Laser Beam Steering System: An ADRC and Predictive Control Based Approach. Memorias del Congreso Nacional de Control Automático, pp. 387-393, 2023.

Palabras clave

Control de Sistemas Lineales; Control Óptimo; Robótica y Mecatrónica

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