A decoupled MPC using a geometric approach and feedforward action for motion control in robotino
Research output: Contributions to collected editions/works › Contributions to collected editions/anthologies › Research › peer-review
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A decoupled MPC using a geometric approach and feedforward action for motion control in robotino. / Strassberger, Daniel; Mercorelli, Paolo.
Model Predictive Control: Theory, Practices and Future Challenges. ed. / Corrine Wade. Nova Science Publishers, Inc., 2015. p. 61-75 3 (Mechanical Engineering Theory and Applications).Research output: Contributions to collected editions/works › Contributions to collected editions/anthologies › Research › peer-review
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TY - CHAP
T1 - A decoupled MPC using a geometric approach and feedforward action for motion control in robotino
AU - Strassberger, Daniel
AU - Mercorelli, Paolo
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Decoupling
KW - Geometric approach
KW - Model Predictive Control
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=84955629820&partnerID=8YFLogxK
M3 - Contributions to collected editions/anthologies
AN - SCOPUS:84955629820
SN - 9781634638876
SN - 9781634638593
T3 - Mechanical Engineering Theory and Applications
SP - 61
EP - 75
BT - Model Predictive Control: Theory, Practices and Future Challenges
A2 - Wade, Corrine
PB - Nova Science Publishers, Inc.
ER -