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

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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
Issue number1
Number of pages10
Publication statusPublished - 19.11.2015

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