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 -