TY - CHAP

T1 - Control of a Sun Tracking Robot Based on Adaptive Sliding Mode Control with Kalman Filtering and Model Predictive Control

AU - Rehbein, Jan Philip

AU - Haus, Benedikt

AU - Mercorelli, Paolo

N1 - Conference code: 47

PY - 2021/10/13

Y1 - 2021/10/13

N2 - This paper proposes an adaptive Sliding Mode Control (SMC) strategy using a Model Predictive Control (MPC) for a two rotational joints robot to be used in a tracking problem. The considered tracking problem is the sensorless orientation of a photovoltaic panel with respect to the solar position. The estimated velocity of the sun is obtained by drawing the solar Azimuth and Elevation angle from the Application Programming Interface (API) of a German Metereological Service (meteomatics), providing real time data. The measured data are processed by an Kalman Filter (KF) to estimate the position, velocity and acceleration of the angles of the joints of the robot. The estimated and reference angles and their derivatives are used in the SMC law. Exemplary tracking results are presented at the end.

AB - This paper proposes an adaptive Sliding Mode Control (SMC) strategy using a Model Predictive Control (MPC) for a two rotational joints robot to be used in a tracking problem. The considered tracking problem is the sensorless orientation of a photovoltaic panel with respect to the solar position. The estimated velocity of the sun is obtained by drawing the solar Azimuth and Elevation angle from the Application Programming Interface (API) of a German Metereological Service (meteomatics), providing real time data. The measured data are processed by an Kalman Filter (KF) to estimate the position, velocity and acceleration of the angles of the joints of the robot. The estimated and reference angles and their derivatives are used in the SMC law. Exemplary tracking results are presented at the end.

KW - Kalman filter

KW - Lyapunov

KW - Model predictive control

KW - Robot

KW - Sliding Mode Control

KW - Sun Tracking

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85119505003&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/841f091e-33bc-3a02-a209-b222e7b8c85c/

U2 - 10.1109/IECON48115.2021.9589081

DO - 10.1109/IECON48115.2021.9589081

M3 - Article in conference proceedings

AN - SCOPUS:85119505003

SN - 978-1-6654-0256-9

T3 - IECON Proceedings (Industrial Electronics Conference)

BT - IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

T2 - 47th Annual Conference of the IEEE Industrial Electronics Society

Y2 - 13 October 2021 through 16 October 2021

ER -