A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach
Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › begutachtet
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A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach. / Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg Yu.
in: Journal of Physics: Conference Series, Jahrgang 659, Nr. 1, 012029, 19.11.2015.Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › begutachtet
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TY - JOUR
T1 - A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach
AU - Straßberger, Daniel
AU - Mercorelli, Paolo
AU - Sergiyenko, Oleg Yu
N1 - Publisher Copyright: © Published under licence by IOP Publishing Ltd.
PY - 2015/11/19
Y1 - 2015/11/19
N2 - This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with the inverse DC-drive model. Simulation results using real data of Robotino are shown.
AB - This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with the inverse DC-drive model. Simulation results using real data of Robotino are shown.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=84959051495&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/659/1/012029
DO - 10.1088/1742-6596/659/1/012029
M3 - Conference article in journal
VL - 659
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
SN - 1742-6588
IS - 1
M1 - 012029
ER -