Model predictive position tracking control for motion system with random communication delay

Abstract

This study focuses on position tracking control for the networked predictive motion control system with random communication delay. First, the output feedback controller is designed by networked predictive control law to actively compensate the time delay induced by the random channels of the motion control system. A closed-loop model is established for the networked predictive motion control system with random bounded communication delay, modelled by a Markov chain. Then, the sufficient conditions of stability for the networked predictive motion control system are provided, by constructing the Lyapunov–Krasovskii functional, followed by the theoretical proof. Furthermore, the output feedback controller is constructed and the linear matrix inequality method is applied to obtain the designed controller gain. Last, the simulation and experimental results are presented to prove the effectiveness of the proposed method.