Research on Control Method of Hybrid Mechanism Based on DOB and MPC

This paper introduces a novel composite control system for a hybrid mechanism -based active wave compensation system, integrating a model predictive controller (MPC) with a disturbance observer (DOB). This approach aims to enhance control accuracy and improve the stability of the hybrid mechanism, addressing common issues like lag and overshoot associated with traditional PID control algorithms when exposed to wave disturbances. The DOB is employed to estimate and mitigate both wave disturbances and joint motion torque disturbances, feeding these observations into the system model for the MPC. Simulation results indicate that the proposed predictive controller demonstrates superior tracking performance compared to traditional PID controllers, particularly in reducing tracking error. From the perspective of the executive mechanism, the predictive controller designed in this paper exhibits better overall control performance than traditional PID controllers.