A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

Research output: Journal contributionsConference article in journalResearchpeer-review

Authors

This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, 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.
Original languageEnglish
Article number012029
JournalJournal of Physics: Conference Series
Volume659
Issue number1
Number of pages10
ISSN1742-6588
DOIs
Publication statusPublished - 19.11.2015

Bibliographical note

Publisher Copyright:
© Published under licence by IOP Publishing Ltd.

Recently viewed

Activities

  1. The Framework for Inclusive Science Education
  2. Sino-German Summer School on Design and data analysis of biodiversity-ecosystem functioning experiments 2011
  3. Common Ground #3. Where the Circles Intersect
  4. Einführung in das Asylrecht
  5. Technische Universität Lodz
  6. Legibility in the German Deportation Regime: Identification and the Construct of the 'Duldung'
  7. Wright State Universität
  8. Navigating Educational Ambidexterity: Exploring Leader-Member Exchange and Open Innovation
  9. Talk on false memories
  10. Open-source Citizenship Research: Learning from Anti-corporate Campaigning Methodologies
  11. Plenary Speaker at the 2021 4th IEEE International Conference on Information Communication and Signal Processing (ICICSP 2021)
  12. Robotics (Fachzeitschrift)
  13. Sensor based on Coplanar μ-Strips to Measure the Electronics Properties of the Polyethylene Oxide (PEO) Electrospun
  14. That is not enough–Or is it? A qualitative investigation of reference points in negotiations
  15. Deliberation and learning in environmental governance – insights from a meta-analysis of case studies
  16. 2nd Symposium on Predictive Control of Electrical Drives and Power - SLED PRECEDE IEEE 2013
  17. (Hi)Stories in Art after the End of the Cold War
  18. Speaking with One Voice While Being Different - Effects of Comparison Mindsets in Negotiations between Groups
  19. Natural Resources Forum (Zeitschrift)
  20. Peak of the Assembly Lines? (Online) Songwriting Camps as Current Spaces of Individual and Collaborative Creativity
  21. Green IT & IT-for-Green - 2010
  22. "Crowds and Party" Reading Workshop with Jody Dean - 2019
  23. Plenary Speaker at the 2021 8th International Conference on Computing and Communication Technologies (WCCCT 2021) with a talk entitled: „A Real Application of Fuzzy Based Control Strategy for a Nonholonomic Car-Like Robot„, January 23-25, Dalian, China.
  24. 5th NECS Workshop on Cinematic Scale - NECS 2012
  25. Nominator

Publications

  1. Switching Dispatching Rules with Gaussian Processes
  2. The Role of Output Vocabulary in T2T LMs for SPARQL Semantic Parsing
  3. Different facets of tree sapling diversity influence browsing intensity by deer dependent on spatial scale
  4. Simulation based optimization of lot sizes for opposing logistic objectives
  5. Use of design methods, team leaders' goal orientation, and team effectiveness: A follow-up study in software development projects
  6. The dynamics of prior entry in serial visual processing
  7. Semi-micro reflux procedure for minimization of chloride interference by COD determination.
  8. Support vector machines with example dependent costs
  9. Home range size and resource use of breeding and non-breeding white storks along a land use gradient
  10. Practical Formalist
  11. Interactive Media as Fields of Transduction
  12. Development and validation of the Later Life Work Index for successful management of an aging workforce
  13. Introduction: The representative turn in EU Studies
  14. Adaptive control of the nonlinear dynamic behavior of the cantilever-sample system of an atomic force microscope
  15. The Dialectics of Open Access
  16. HR practices and ambidexterity in small- and medium-sized consulting firms: An exploratory multi-case study
  17. Stabilisierung durch Implementieren, Sichern und Evaluieren
  18. Implementing UNESCO's Convention on Cultural Diversity at the regional level
  19. The Challenge of Democratic Representation in the European Union
  20. Joint Proceedings of Scholarly QALD 2023 and SemREC 2023 co-located with 22nd International Semantic Web Conference ISWC 2023
  21. Markups and Concentration in the Context of Digitization
  22. Governmental activity, integration, and agglomeration
  23. The complementary relationship of exploration and exploitation in professional service firms: An exploratory study of IT consulting firms