A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach
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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 language | English |
|---|---|
| Article number | 012029 |
| Journal | Journal of Physics: Conference Series |
| Volume | 659 |
| Issue number | 1 |
| Number of pages | 10 |
| ISSN | 1742-6588 |
| DOIs | |
| Publication status | Published - 19.11.2015 |
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