Input-Constrained-Nonlinear-Dynamic-Model-Based Predictive Position Control of Planar Motors

In this article, a predictive position control method based on a novel input-constrained nonlinear dynamic model (NDM) is proposed for time-varying position tracking of planar motors. The motivation lies in the possible utility of this method for motion systems. This method uses NDM subject to input constraint to deal with actuator saturation rather than uses a constrained optimization problem, su...