University of Twente Student Theses


MPC design for a precision, flexure based, pendulum

Schaaf, J.R. (2023) MPC design for a precision, flexure based, pendulum.

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Abstract:The T-flex is a fully flexure based precision hexapod developed by the Precision Engineering group of Universiteit Twente. It is equipped with high precision sensors and high quality motors. This results in a system for which a precise model with little error can be obtained and where measurement errors don’t play a significant role. The goal is to develop a MPC implementation that is able to control a single arm of the T-flex, using the ability of MPC to explicitly take into account the state restrictions of the joint and the thermal limits of the electric motors. The chosen MPC implementation uses MPC as a path planner for the nominal system, with a hybrid feedforward and computed torque control setup to translate the MPC planned trajectory to motor torque commands. A LQR feedback controller is used to reject disturbances and model errors.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Systems and Control MSc (60359)
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