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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

Standard

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

Harvard

Straßberger, D, Mercorelli, P & Georgiadis, A 2014, On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino. in Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems. University of Groningen Press, Groningen, S. 1080-1087, 21st International Symposium on Mathematical Theory of Networks and Systems - MTNS 2014 , Groningen, Niederlande, 07.07.14. <http://fwn06.housing.rug.nl/mtns2014-papers/fullPapers/0272.pdf>

APA

Straßberger, D., Mercorelli, P., & Georgiadis, A. (2014). On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino. In Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems (S. 1080-1087). University of Groningen Press. http://fwn06.housing.rug.nl/mtns2014-papers/fullPapers/0272.pdf

Vancouver

Straßberger D, Mercorelli P, Georgiadis A. On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino. in Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems. Groningen: University of Groningen Press. 2014. S. 1080-1087

Bibtex

@inbook{00bc68871b7840b187b9be2c6fb728a8,
title = "On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino",
abstract = "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.",
keywords = "Engineering, Control systems, Control systems",
author = "Daniel Stra{\ss}berger and Paolo Mercorelli and Anthimos Georgiadis",
note = "This paper will appear in Scopus Database in the next weeks. Titel lt. GVK: MTNS 2014 : The 21st International Symposium on Mathematical Theory of Networks and Systems, 7-11 July 2014, Groningen, The Netherland ; proceedings; 21st International Symposium on Mathematical Theory of Networks and Systems - MTNS 2014 , MTNS 2014 ; Conference date: 07-07-2014 Through 11-07-2014",
year = "2014",
month = jul,
language = "English",
isbn = "978-90-367-6321-9",
pages = "1080--1087",
booktitle = "Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems",
publisher = "University of Groningen Press",
address = "Netherlands",
url = "https://fwn06.housing.rug.nl/mtns2014/",

}

RIS

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 -

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