TY - CHAP

T1 - A decoupled MPC using a geometric approach and feedforward action for motion control in robotino

AU - Strassberger, Daniel

AU - Mercorelli, Paolo

PY - 2015

Y1 - 2015

N2 - Mobile robotics is a notable case of such evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements for the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, notably an increasing number of degrees-of-freedom. This contribution proposes a controller for the motion of the Robotino. The proposed controller takes under consideration a non-interacting control strategy realized using a geometric approach. 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 a Feedforward controller. The approach used to obtain a decoupling consists of a geometric approach. In the past three decades, research on the geometric approach to dynamic systems theory and control has allowed this approach to become a powerful and a thorough tool for the analysis and synthesis of dynamic systems. Simulation results using real data of the Robotino are shown.

AB - Mobile robotics is a notable case of such evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements for the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, notably an increasing number of degrees-of-freedom. This contribution proposes a controller for the motion of the Robotino. The proposed controller takes under consideration a non-interacting control strategy realized using a geometric approach. 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 a Feedforward controller. The approach used to obtain a decoupling consists of a geometric approach. In the past three decades, research on the geometric approach to dynamic systems theory and control has allowed this approach to become a powerful and a thorough tool for the analysis and synthesis of dynamic systems. Simulation results using real data of the Robotino are shown.

KW - Decoupling

KW - Geometric approach

KW - Model Predictive Control

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=84955629820&partnerID=8YFLogxK

M3 - Contributions to collected editions/anthologies

AN - SCOPUS:84955629820

SN - 9781634638876

SN - 9781634638593

T3 - Mechanical Engineering Theory and Applications

SP - 61

EP - 75

BT - Model Predictive Control: Theory, Practices and Future Challenges

A2 - Wade, Corrine

PB - Nova Science Publishers, Inc.

ER -