On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino
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Authors
This paper proposes a functional controller for motion control of the Robotino. The proposed controller takes under consideration 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 C3, continuous functions with third derivative also continuous. Horizon, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems |
| Number of pages | 8 |
| Place of Publication | Groningen |
| Publisher | University of Groningen Press |
| Publication date | 07.2014 |
| Pages | 1080-1087 |
| ISBN (print) | 978-90-367-6321-9 |
| Publication status | Published - 07.2014 |
| Event | 21st International Symposium on Mathematical Theory of Networks and Systems - MTNS 2014 - University of Groningen, Groningen, Netherlands Duration: 07.07.2014 → 11.07.2014 Conference number: 21 https://fwn06.housing.rug.nl/mtns2014/ |
Bibliographical note
This paper will appear in Scopus Database in the next weeks.
Titel lt. GVK: MTNS 2014 : The 21st International Symposium on Mathematical Theory of Networks and Systems, 7-11 July 2014, Groningen, The Netherland ; proceedings
- Engineering - Control systems