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A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

Research output: Journal contributions › Conference article in journal › Research › peer-review

Standard

A Geometric Approach to Decouple Robotino Motions and its Functional Controllability. / Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg Yu.
In: Journal of Physics: Conference Series, Vol. 659, No. 1, 012027, 19.11.2015.

Research output: Journal contributions › Conference article in journal › Research › peer-review

Harvard

Straßberger, D, Mercorelli, P & Sergiyenko, OY 2015, 'A Geometric Approach to Decouple Robotino Motions and its Functional Controllability', Journal of Physics: Conference Series, vol. 659, no. 1, 012027. https://doi.org/10.1088/1742-6596/659/1/012027

APA

Straßberger, D., Mercorelli, P., & Sergiyenko, O. Y. (2015). A Geometric Approach to Decouple Robotino Motions and its Functional Controllability. Journal of Physics: Conference Series, 659(1), Article 012027. https://doi.org/10.1088/1742-6596/659/1/012027

Vancouver

Straßberger D, Mercorelli P, Sergiyenko OY. A Geometric Approach to Decouple Robotino Motions and its Functional Controllability. Journal of Physics: Conference Series. 2015 Nov 19;659(1):012027. doi: 10.1088/1742-6596/659/1/012027

Bibtex

@article{09d8374a968445aaa54b54481bae35ae,
title = "A Geometric Approach to Decouple Robotino Motions and its Functional Controllability",
abstract = "This paper analyses a functional control of the Robotino. The proposed control strategy 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. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not 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 = "10.1088/1742-6596/659/1/012027",
language = "English",
volume = "659",
journal = "Journal of Physics: Conference Series",
issn = "1742-6588",
publisher = "IOP Publishing Ltd",
number = "1",

}

RIS

TY - JOUR

T1 - A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

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 analyses a functional control of the Robotino. The proposed control strategy 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. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.

AB - This paper analyses a functional control of the Robotino. The proposed control strategy 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. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.

KW - Engineering

UR - http://iopscience.iop.org/article/10.1088/1742-6596/659/1/012027

UR - http://www.scopus.com/inward/record.url?scp=84959058195&partnerID=8YFLogxK

U2 - 10.1088/1742-6596/659/1/012027

DO - 10.1088/1742-6596/659/1/012027

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 - 012027

ER -

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DOI

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