1. //
  2. Start
  3. //
  4. Publications
  5. //
  6. Optimal trajectory generation using MPC ...
  7. //

Optimal trajectory generation using MPC in robotino and its implementation with ROS system

Research output: Contributions to collected editions/works › Contributions to collected editions/anthologies › Research › peer-review

Authors

Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.
Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017 : Proceedings
Number of pages6
Place of PublicationPiscataway
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date03.08.2017
Pages1642-1647
Article number8001493
ISBN (electronic)978-1-50901412-5
DOIs
Publication statusPublished - 03.08.2017

    Research areas

  • Engineering - Controllers, ndustrial electronics, Motion control, Predictive control systems, Robots, Model predictive control, motion control, ROS

Related Activities

Other publications by the same author(s)

Advancing Sustainability and Productivity: The Role of Precision Agriculture in Vineyards and Olive Groves

Fernandes, F. M., Dos Santos, M. F., De Morais, M. H. F., Lima, J., Pereira, A. I. & Mercorelli, P., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Piscataway: Institute of Electrical and Electronics Engineers Inc., 6 p. (International Carpathian Control Conference, ICCC; vol. 26).

Research output: Contributions to collected editions/works › Contributions to collected editions/anthologies › Research › peer-review

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.

Research output: Journal contributions › Journal articles › Research › peer-review

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, In: IEEE Open Journal of Power Electronics. 6, p. 734-746 13 p.

Research output: Journal contributions › Journal articles › Research › peer-review

Business Analytics and Making Decision Based on Kalman Filter in Stock Prediction Case

Kurniawan, S. & Mercorelli, P., 27.05.2025, 5th Congress on Intelligent Systems, CIS 2024: Volume 1. Kumar, S., Mary Anita, E. A., Kim, J. H. & Nagar, A. (eds.). Springer Science and Business Media Deutschland, p. 309-320 12 p. (Lecture Notes in Networks and Systems; vol. 1275).

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

Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Libório, L. O., Pimentel, G. O., Dos Santos, M. F., Fernandes, F. M., Lima, J., De Morais, M. H. F., Mercorelli, P. & Pereira, A. I., 2025, Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025. Kacur, J., Skovranek, T., Laciak, M. & Mojzisova, A. (eds.). Institute of Electrical and Electronics Engineers Inc., (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).

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

DOI

Recently viewed

Activities

  1. Competence Development Program to Promote Collaborative and Agile Production Networks Based on a Learning Factory
  2. I Am Behind the Screen: Understanding the Invisible Work of Content Moderators on Digital Platforms
  3. diffractions and the (un-)making of difference - 2020
  4. GET.ON PAPP: Feasibility of a mobile application for panic with and without agoraphobia
  5. Structure as Infrastructure: Interrelation of Fiber and Construction
  6. From Magic to Systemics. Heinz von Foerster and the Reenchantment of Science
  7. Managing the present generations’ conflicts on the backs of future generations: How current generation’s negotiators create and claim value for themselves and future others
  8. Management and lnternational Networking Workshop 2014
  9. Small Formation: Lines and Alternating Knots as Logistic Inversions
  10. Digital Capitalism meets Leberkaspeppi: Temporal Orientations in Business Models as a Source of Platform Power in Mature Industries
  11. Navigating in the Digital Jungle: Articulating Combinatory Affordances of Digital Infrastructures for Collaboration
  12. Building Collective Institutional Infrastructures for Decent Platform Work: The Development of a Crowdwork Agreement in Germany
  13. Scientists for Future Workshop - 2020

Publications

  1. Multi-Parallel Sending Coils for Movable Receivers in Inductive Charging Systems
  2. On the Functional Controllability Using a Geometric Approach together with a Decoupled MPC for Motion Control in Robotino
  3. Robust decoupling through algebraic output feedback in manipulation systems
  4. Changes in the Complexity of Limb Movements during the First Year of Life across Different Tasks
  5. A PHENOMENOGRAPHICAL STUDY OF CHILDRENS’ SPATIAL THOUGHT WHILE USING MAPS IN REAL SPACES
  6. Neural relational inference for disaster multimedia retrieval
  7. Determination of 10 particle-associated multiclass polar and semi-polar pesticides from small streams using accelerated solvent extraction
  8. Challenges and boundaries in implementing social return on investment
  9. Identification of conductive fiber parameters with transcutaneous electrical nerve stimulation signal using RLS algorithm
  10. Trait-based approaches to analyze links between the drivers of change and ecosystem services
  11. Imaginary practices as the nexus between continuity and disruptive change
  12. Robust feedback linearization control of a throttle plate by using an approximated pd regulator
  13. Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform
  14. Two models for gradient inelasticity based on non-convex energy
  15. Organizing Events for Configuring and Maintaining Creative Fields
  16. The professional context as a predictor for response distortion in the Adaption-Innovation-Inventory – An investigation using mixture-distribution item-response theory models
  17. Analysis of a phase‐field finite element implementation for precipitation
  18. Cost effectiveness of guided Internet-based interventions for depression in comparison with control conditions
  19. Design of Reliable Remobilisation Finger Implants with Geometry Elements of a Triple Periodic Minimal Surface Structure via Additive Manufacturing of Silicon Nitride
  20. Turning Good Intentions Into Actions by Using the Health Action Process Approach to Predict Adherence to Internet-Based Depression Prevention
  21. Insights into creep behavior of Mg–14Gd–1Zn–0.4Zr (wt.%) alloy containing β- and γ-type precipitates
  22. Meta-Image – a collaborative environment for the image discourse
  23. Failing and the perception of failure in student-driven transdisciplinary projects
  24. Applying Quarter-Vehicle Model Simulation for Road Elevation Measurements Utilizing the Vehicle Level Sensor
  25. Improving Human-Machine Interaction
  26. CHANGING RECREATIONAL ACTIVITIES FOR REDUCING INSOMNIA SEVERITY? RESULTS FROM A SERIAL MEDIATION ANALYSIS ON THE IMPACT OF RECREATIONAL BEHAVIOR AS A MECHANISM OF CHANGE IN DIGITAL INTERVENTIONS FOR INSOMNIA
  27. Control oriented modeling of DCDC converters
  28. Microstructure refinement by a novel friction-based processing on Mg-Zn-Ca alloy
  29. Developing pragmatic competence using EFL textbooks: Focus on requests
  30. Intelligent software system for replacing a force sensor in the case of clearance measurement