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

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-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: 02.11.201604.11.2016

Recently viewed

Activities

  1. Learner Performance of Language Learning Tasks in Web-Based Environments
  2. Support Vector Machines for Collective Inference
  3. The Value Knowledge Grid - a new way of diagnosing the Culturally Non-Copyables: Building Blocks for Diagnostics
  4. Creating pathways for transformation through amplifying approaches: a case-study from Southern Transylvania
  5. Alterations of a visual and how they work for and at the boundaries of an interorganizational team: A multimodal exploration
  6. Bridges or blocks: How objects cross or enact boundaries in interorganizational teams
  7. Disturbing Objects, Disquiet Objects
  8. Spas in the New Länder: A Transformation with an Uncertain Outcome.
  9. Unintended Consequences of Field Experiments in Poverty Settings
  10. Keep Calm and Solve the Problem: An Integrated Model to Reduce Threat and Defense in Conflicts
  11. Workshop Medzin I
  12. Removal of Methotrexate, 5-Fluorouracil and Cyclophosphamide from water by UV, UV/H2O2 and UV/Fe2+/H2O2 processe
  13. Career paths and cross-roads: Metaphor as a conceptualisation device (Universität Paderborn, invited talk)
  14. Guidance on the application of in silico tools for Benign by Design
  15. Conference "FICTION AND SIMULATION: Theories, Methods, Practices" - 2015
  16. Laboratory Tests with various Oxidants.
  17. GMM e.V. Summer Institute 2017
  18. IDG Summit 2023
  19. ‘Towards relational practices of world-making: entrepreneurship from a more-than-human perspective’.
  20. Monomers release from composite materials after halogen and LED curing.
  21. Web as Culture - 2009
  22. 24th IEEE International Conference on Business Informatics
  23. Greener Management International (Zeitschrift)
  24. Tag der Hydrologie - TdH 2012
  25. An analysis of founder-CEOs' and salaried CEOs' short-term investment behavior under consideration of aspiration levels
  26. The power and peril of precise numbers

Publications

  1. A Quadrant Approach of Camera Calibration Method for Depth Estimation Using a Stereo Vision System
  2. Improving students’ science text comprehension through metacognitive self-regulation when applying learning strategies
  3. The role of learners’ memory in app-based language instruction: the case of Duolingo.
  4. Towards a spatial understanding of identity play
  5. Implementing aspects of inquiry-based learning in secondary chemistry classes: a case study
  6. Spaces with a temper
  7. Modeling Grounding Processes in Chat-based CSCL
  8. Experimental investigation of the fluid-structure interaction during deep drawing of fiber metal laminates in the in-situ hybridization process
  9. Doing space in face-to-face interaction and on interactive multimodal platforms
  10. Hot forging of cast magnesium alloy TX31 using semi-closed die and its finite element simulation
  11. Gaussian trajectories in motion control for camless engines
  12. Magnesium-based metal matrix nanocomposites—processing and properties
  13. Development of high performance single-phase solid solution magnesium alloy at low temperature
  14. OPERATIONALIZING DIGITAL TRANSFORMATION FROM MULTIPLE PERSPECTIVES
  15. Which nudges get support - A Quantitative Analysis of the Dimensions Transparency and Dual Process Theory
  16. Introduction to Felipe Ehrenberg's "In Search of a Model for Life"
  17. Series foreword of Series Editors
  18. Group formation in computer-supported collaborative learning
  19. An Adaptive Two-Stage Observer in the Control of a New Electromagnetic Valve Actuator for Camless Internal Combustion Engines
  20. Me and AAC - Alternative and Augmented Communication in West Germany from a Biographical and Media Archaeological Perspective
  21. Modes of Being in Mobile Telecommunication
  22. Navigating in the Digital Jungle: Articulating Combinatory Affordances of Digital Infrastructures for Collaboration