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

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A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach. / Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg Yu.
In: Journal of Physics: Conference Series, Vol. 659, No. 1, 012029, 19.11.2015.

Research output: Journal contributionsConference article in journalResearchpeer-review

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Straßberger D, Mercorelli P, Sergiyenko OY. A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach. Journal of Physics: Conference Series. 2015 Nov 19;659(1):012029. doi: 10.1088/1742-6596/659/1/012029

Bibtex

@article{42539108fded4537a44da0772bd20d78,
title = "A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach",
abstract = "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.",
keywords = "Engineering",
author = "Daniel Stra{\ss}berger and Paolo Mercorelli and Sergiyenko, {Oleg Yu}",
note = "Publisher Copyright: {\textcopyright} Published under licence by IOP Publishing Ltd.",
year = "2015",
month = nov,
day = "19",
doi = "10.1088/1742-6596/659/1/012029",
language = "English",
volume = "659",
journal = "Journal of Physics: Conference Series",
issn = "1742-6588",
publisher = "IOP Publishing Ltd",
number = "1",

}

RIS

TY - JOUR

T1 - A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

AU - Straßberger, Daniel

AU - Mercorelli, Paolo

AU - Sergiyenko, Oleg Yu

N1 - Publisher Copyright: © Published under licence by IOP Publishing Ltd.

PY - 2015/11/19

Y1 - 2015/11/19

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=84959051495&partnerID=8YFLogxK

U2 - 10.1088/1742-6596/659/1/012029

DO - 10.1088/1742-6596/659/1/012029

M3 - Conference article in journal

VL - 659

JO - Journal of Physics: Conference Series

JF - Journal of Physics: Conference Series

SN - 1742-6588

IS - 1

M1 - 012029

ER -