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On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino

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

Authors

This paper proposes a functional controller for motion control of the Robotino. The proposed controller takes under consideration a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C3, continuous functions with third derivative also continuous. Horizon, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.
OriginalspracheEnglisch
TitelProceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems
Anzahl der Seiten8
ErscheinungsortGroningen
VerlagUniversity of Groningen Press
Erscheinungsdatum07.2014
Seiten1080-1087
ISBN (Print)978-90-367-6321-9
PublikationsstatusErschienen - 07.2014
Veranstaltung21st International Symposium on Mathematical Theory of Networks and Systems - MTNS 2014 - University of Groningen, Groningen, Niederlande
Dauer: 07.07.2014 → 11.07.2014
Konferenznummer: 21
https://fwn06.housing.rug.nl/mtns2014/

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