On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino
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On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino. / Straßberger, Daniel; Mercorelli, Paolo; Georgiadis, Anthimos.
Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems. Groningen : University of Groningen Press, 2014. S. 1080-1087.Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino
AU - Straßberger, Daniel
AU - Mercorelli, Paolo
AU - Georgiadis, Anthimos
N1 - Conference code: 21
PY - 2014/7
Y1 - 2014/7
N2 - 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.
AB - 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.
KW - Engineering
KW - Control systems
KW - Control systems
UR - http://fwn06.housing.rug.nl/mtns2014-papers/fullPapers/0272.pdf
M3 - Article in conference proceedings
SN - 978-90-367-6321-9
SP - 1080
EP - 1087
BT - Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems
PB - University of Groningen Press
CY - Groningen
T2 - 21st International Symposium on Mathematical Theory of Networks and Systems - MTNS 2014
Y2 - 7 July 2014 through 11 July 2014
ER -