1. //
  2. Start
  3. //
  4. Publikationen
  5. //
  6. A model predictive control in Robotino a...
  7. //

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

Weitere Publikationen dieser Person(en)

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, in: Sensors. 25, 2, 27 S., 479.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, (Elektronische Veröffentlichung vor Drucklegung) in: IEEE Open Journal of Power Electronics. 14 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, in: Machines. 13, 2, 20 S., 110.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, in: Mathematics and Computers in Simulation. 228, S. 178-201 24 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Neural Network-Based Finite-Time Control for Stochastic Nonlinear Systems with Input Dead-Zone and Saturation

Kharrat, M., Krichen, M., Alhazmi, H. & Mercorelli, P., 11.01.2025, (Elektronische Veröffentlichung vor Drucklegung) in: Arabian Journal for Science and Engineering. 11 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

DOI

Zuletzt angesehen

Publikationen

  1. Introducing parametric uncertainty into a nonlinear friction model
  2. Stepwise-based optimizing approaches for arrangements of loudspeaker in multi-zone sound field reproduction
  3. A geometric approach for controlling an electromagnetic actuator with the help of a linear Model Predictive Control
  4. A localized boundary element method for the floating body problem
  5. Mapping interest rate projections using neural networks under cointegration
  6. The Influence of Note-taking on Mathematical Solution Processes while Working on Reality-Based Tasks
  7. Robust Flatness Based Control of an Electromagnetic Linear Actuator Using Adaptive PID Controller
  8. Gaussian processes for dispatching rule selection in production scheduling
  9. Performance analysis for loss systems with many subscribers and concurrent services
  10. Comments on "Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics"
  11. A guided simulated annealing search for solving the pick-up and delivery problem with time windows and capacity constraints
  12. An analytical approach to evaluating bivariate functions of fuzzy numbers with one local extremum
  13. On the Nonlinearity Compensation in Permanent Magnet Machine Using a Controller Based on a Controlled Invariant Subspace
  14. An Orthogonal Wavelet Denoising Algorithm for Surface Images of Atomic Force Microscopy
  15. Stability analysis of a linear model predictive control and its application in a water recovery process
  16. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  17. Data-Driven flood detection using neural networks
  18. Passive Peak Voltage Sensor for Multiple Sending Coils Inductive Power Transmission System
  19. A Gait Pattern Generator for Closed-Loop Position Control of a Soft Walking Robot
  20. A two-stage Kalman estimator for motion control using model predictive strategy
  21. Continuous 3D scanning mode using servomotors instead of stepping motors in dynamic laser triangulation
  22. A general structural property in wavelet packets for detecting oscillation and noise components in signal analysis
  23. A denoising procedure using wavelet packets for instantaneous detection of pantograph oscillations
  24. Perfect anti-windup in output tracking scheme with preaction
  25. Simulation based comparison of safety-stock calculation methods
  26. Primary Side Circuit Design of a Multi-coil Inductive System for Powering Wireless Sensors
  27. Continuous and Discrete Concepts for Detecting Transport Barriers in the Planar Circular Restricted Three Body Problem
  28. Convolutional Neural Networks
  29. A New Framework for Production Planning and Control to Support the Positioning in Fields of Tension Created by Opposing Logistic Objectives
  30. Cognitive load and instructionally supported learning with provided and learner-generated visualizations
  31. Using cross-recurrence quantification analysis to compute similarity measures for time series of unequal length with applications to sleep stage analysis
  32. PI and Fuzzy Controllers for Non-Linear Systems
  33. Long-term memory predictors of adult language learning at the interface between syntactic form and meaning
  34. Dynamically adjusting the k-values of the ATCS rule in a flexible flow shop scenario with reinforcement learning
  35. Modeling and numerical simulation of multiscale behavior in polycrystals via extended crystal plasticity
  36. Transductive support vector machines for structured variables
  37. Switching Dispatching Rules with Gaussian Processes
  38. A computational study of a model of single-crystal strain-gradient viscoplasticity with an interactive hardening relation
  39. Multi-view discriminative sequential learning
  40. Combining multiple investigative approaches to unravel functional responses to global change in the understorey of temperate forests
  41. Web-scale extension of RDF knowledge bases from templated websites
  42. Improving short-term academic performance in the flipped classroom using dynamic geometry software
  43. Positioning Improvement for a Laser Scanning System using cSORPD control
  44. An analytical approach to evaluating nonmonotonic functions of fuzzy numbers