A decoupled MPC using a geometric approach and feedforward action for motion control in robotino

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Mobile robotics is a notable case of such evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements for the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, notably an increasing number of degrees-of-freedom. This contribution proposes a controller for the motion of the Robotino. The proposed controller takes under consideration a non-interacting control strategy realized using a geometric approach. 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 a Feedforward controller. The approach used to obtain a decoupling consists of a geometric approach. In the past three decades, research on the geometric approach to dynamic systems theory and control has allowed this approach to become a powerful and a thorough tool for the analysis and synthesis of dynamic systems. Simulation results using real data of the Robotino are shown.

Original languageEnglish
Title of host publicationModel Predictive Control: Theory, Practices and Future Challenges
EditorsCorrine Wade
Number of pages15
PublisherNova Science Publishers, Inc.
Publication date2015
Pages61-75
Article number3
ISBN (print)9781634638876, 9781634638593
Publication statusPublished - 2015

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