In this paper, a model predictive control algorithm is developed for the regulation problem of a biaxial feed drive system. The orthogonal error component in the moving frame is considered as an approximation of the real contour error. Then, the control policy is derived from the worst-case optimization of a quadratic cost function, which penalizes transformed errors, velocity errors and control variables in each sampling time over a finite horizon. In addition, the constraint is satisfied to ensure the convergence against uncertain but bounded disturbances. The good performance of the proposed control algorithm is verified via computer simulations with predefined trajectories. Furthermore, the result shows the improvement of the tracking accuracy by comparing with the unconstrained predictive control methods.

中文翻译：

---

具有不确定性的进给驱动系统的约束模型预测轮廓误差控制

在本文中，针对双轴进给驱动系统的调节问题开发了一种模型预测控制算法。移动坐标系中的正交误差分量被认为是真实轮廓误差的近似值。然后，控制策略是从二次成本函数的最坏情况优化中推导出来的，该函数在有限范围内的每个采样时间内惩罚变换误差、速度误差和控制变量。此外，满足约束以确保对不确定但有界干扰的收敛。所提出的控制算法的良好性能通过具有预定义轨迹的计算机模拟得到验证。此外，与无约束预测控制方法相比，结果表明跟踪精度有所提高。