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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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