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A model predictive control in Robotino and its implementation using ROS system

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Authors

Mobile robotics is a notable case of high evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements on the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, an increasing number of degrees-of-freedom. This contribution proposes a controller for motion of the Robotino. A Model Predictive Control (MPC) strategy is used in combination with a Feedforward controller which is applied on an obtained decoupling controller. An implementation of these algorithm in ROS-System with the real Robotino is shown.
Translated title of the contributionDie Implementierung eines MPC auf dem Robotino mit ROS
Original languageEnglish
Title of host publication2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2016
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date02.02.2017
Pages1-6
Article number7841369
ISBN (print)978-1-5090-0813-1
ISBN (electronic)978-1-5090-0814-8, 978-1-5090-0815-5
DOIs
Publication statusPublished - 02.02.2017
EventInternational Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference - ESARS-ITEC 2016 - Toulouse, France
Duration: 02.11.2016 → 04.11.2016

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DOI

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