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Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino

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

Authors

This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. 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 a preselecting matrix. Simulation results using real data of Robotino are shown.

OriginalspracheEnglisch
Titel2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014
Anzahl der Seiten7
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum18.06.2014
Seiten1337-1343
Aufsatznummer6871967
ISBN (Print)9781479947492
ISBN (elektronisch)978-147994749-2
DOIs
PublikationsstatusErschienen - 18.06.2014
VeranstaltungInternational Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014 - Ischia, Italien
Dauer: 18.06.2014 → 20.06.2014

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