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A model predictive control in Robotino and its implementation using ROS system

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet

Authors

Mobile robotics is a notable case of high evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements on the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, an increasing number of degrees-of-freedom. This contribution proposes a controller for motion of the Robotino. A Model Predictive Control (MPC) strategy is used in combination with a Feedforward controller which is applied on an obtained decoupling controller. An implementation of these algorithm in ROS-System with the real Robotino is shown.
Titel in ÜbersetzungDie Implementierung eines MPC auf dem Robotino mit ROS
OriginalspracheEnglisch
Titel2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2016
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum02.02.2017
Seiten1-6
Aufsatznummer7841369
ISBN (Print)978-1-5090-0813-1
ISBN (elektronisch)978-1-5090-0814-8, 978-1-5090-0815-5
DOIs
PublikationsstatusErschienen - 02.02.2017
Veranstaltung2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC) - Toulouse, Frankreich
Dauer: 02.11.2016 → 04.11.2016

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DOI

Zuletzt angesehen

Forschende

  1. Kerstin Fedder

Aktivitäten

  1. “Visual Rhetoric as a three-dimensional practice. Theorizing the interconnections between the visual rhetorical objects and the process of spectatorship”
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  3. Presentation of the paper entitled "Soft Optimal Computing to Identify Surface Roughness in Manufacturing using a Gaussian and a Trigonometric Regressor"
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  5. The more attractive the more effective? Investigating the association of user experience and efficacy of an online and app-based gratitude intervention to reduce repetitive negative thinking
  6. The impact of information on diabetes patients' acceptance of internet-based depression interventions: a randomized controlled trial.
  7. Building the 5-Dollar-Neuron. A Genealogy of the ›Biological Computer‹ as Research Program and Metaphor (Konferenz "Neural Initiatives: Neuropolitics, Technoscience, and the Dynamic Brain")
  8. What is in the attention of pre-service teachers while teaching? An eye-tracking study about attention processes during standardized teaching situations
  9. Ecological restoration as a tool out of multiple crisis - examples from grassland restoration
  10. Correlation Patterns of PAHs and Heterocyclic PAHs in Sediment Samples from Influence of Two Tar-Contaminated Sites on Adjacent Rivers: Quantitation of PAHs, Heterocyclic PAHs and Phenols in the Aqueous Phase

Publikationen

  1. Message passing for hyper-relational knowledge graphs
  2. A transfer operator based computational study of mixing processes in open flow systems
  3. Exact and approximate inference for annotating graphs with structural SVMs
  4. A Wavelet Packet Tree Denoising Algorithm for Images of Atomic-Force Microscopy
  5. Random measurement and prediction errors limit the practical relevance of two velocity sensors to estimate the 1RM back squat
  6. Dynamically changing sequencing rules with reinforcement learning in a job shop system with stochastic influences
  7. A New Framework for Production Planning and Control to Support the Positioning in Fields of Tension Created by Opposing Logistic Objectives
  8. Human–learning–machines: introduction to a special section on how cybernetics and constructivism inspired new forms of learning
  9. Appendix A: Design, implementation, and analysis of the iGOES project
  10. Joint Proceedings of Scholarly QALD 2023 and SemREC 2023 co-located with 22nd International Semantic Web Conference ISWC 2023
  11. Comparison between UKF and EKF in Sensorless Synchronous Reluctance Motor Drives
  12. Design of Reliable Remobilisation Finger Implants with Geometry Elements of a Triple Periodic Minimal Surface Structure via Additive Manufacturing of Silicon Nitride
  13. Operationalizing ecosystem services for the mitigation of soil threats
  14. Endemic predators, invasive prey and native diversity
  15. The complementary relationship of exploration and exploitation in professional service firms: An exploratory study of IT consulting firms
  16. Adaptor device for transmitting e.g. blood pressure data of human body from blood pressure measuring device of data communication system to e.g. personal computer, has controller for controlling transmission of data to communication module
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  18. Automatic generation of periodic representative volume elements for matrix-inclusion composites and their efficiency in multiscaling
  19. Ecosystem services flows
  20. Impact of above- and below-ground invertebrates on temporal and spatial stability of grassland of different diversity
  21. New descriptions and typifications of syntaxa within the project 'Plant communities of Mecklenburg-Vorpommern and their vulnerability' - Part I
  22. Hydrological tracers for assessing transport and dissipation processes of pesticides in a model constructed wetland system
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