Predictive Control of a Two Degrees of Freedom XY robot (Satellite Tracking Pedestal) and comparing GPC and GIPC algorithms for Satellite Tracking

Abstract

In this paper, two Generalized Predictive Control algorithms (GPC, GIPC) are used to control X, Y axes of a Two-Degrees-of-Freedom robot, which is a earth station antenna related to be the HDF pedestals (High Dynamic Full Motion Leo Satellite Tracking Pedestals). This system model is achieved by using the Dymola software that according to the comparisons which have been done is very close to the actual system model and has very high accuracy. Comparing the simulation results between GPC and GIPC, fewer tracking errors are observed for the latter while it is much better when it comes to the disturbance rejection criterion.