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

Standard

Optimal trajectory generation using MPC in robotino and its implementation with ROS system. / Mercorelli, Paolo; Voss, Thomas; Straßberger, Daniel et al.
Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017: Proceedings. Piscataway: IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 1642-1647 8001493 (IEEE International Symposium on Industrial Electronics).

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

Harvard

Mercorelli, P, Voss, T, Straßberger, D, Sergiyenko, O & Lindner, L 2017, Optimal trajectory generation using MPC in robotino and its implementation with ROS system. in Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017: Proceedings., 8001493, IEEE International Symposium on Industrial Electronics, IEEE - Institute of Electrical and Electronics Engineers Inc., Piscataway, pp. 1642-1647. https://doi.org/10.1109/ISIE.2017.8001493

APA

Mercorelli, P., Voss, T., Straßberger, D., Sergiyenko, O., & Lindner, L. (2017). Optimal trajectory generation using MPC in robotino and its implementation with ROS system. In Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017: Proceedings (pp. 1642-1647). Article 8001493 (IEEE International Symposium on Industrial Electronics). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE.2017.8001493

Vancouver

Mercorelli P, Voss T, Straßberger D, Sergiyenko O, Lindner L. Optimal trajectory generation using MPC in robotino and its implementation with ROS system. In Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017: Proceedings. Piscataway: IEEE - Institute of Electrical and Electronics Engineers Inc. 2017. p. 1642-1647. 8001493. (IEEE International Symposium on Industrial Electronics). doi: 10.1109/ISIE.2017.8001493

Bibtex

@inbook{d32322056593489abc7b0821c9be41c5,
title = "Optimal trajectory generation using MPC in robotino and its implementation with ROS system",
abstract = "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.",
keywords = "Engineering, Controllers, ndustrial electronics, Motion control, Predictive control systems, Robots, Model predictive control, motion control, ROS",
author = "Paolo Mercorelli and Thomas Voss and Daniel Stra{\ss}berger and Oleg Sergiyenko and Lars Lindner",
year = "2017",
month = aug,
day = "3",
doi = "10.1109/ISIE.2017.8001493",
language = "English",
series = "IEEE International Symposium on Industrial Electronics",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
pages = "1642--1647",
booktitle = "Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017",
address = "United States",

}

RIS

TY - CHAP

T1 - Optimal trajectory generation using MPC in robotino and its implementation with ROS system

AU - Mercorelli, Paolo

AU - Voss, Thomas

AU - Straßberger, Daniel

AU - Sergiyenko, Oleg

AU - Lindner, Lars

PY - 2017/8/3

Y1 - 2017/8/3

N2 - 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.

AB - 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.

KW - Engineering

KW - Controllers

KW - ndustrial electronics

KW - Motion control

KW - Predictive control systems

KW - Robots

KW - Model predictive control

KW - motion control

KW - ROS

UR - http://ieeexplore.ieee.org/abstract/document/8001493/

UR - http://www.scopus.com/inward/record.url?scp=85029897635&partnerID=8YFLogxK

U2 - 10.1109/ISIE.2017.8001493

DO - 10.1109/ISIE.2017.8001493

M3 - Contributions to collected editions/anthologies

T3 - IEEE International Symposium on Industrial Electronics

SP - 1642

EP - 1647

BT - Proceedings - 2017 IEEE International Symposium on Industrial Electronics, ISIE 2017

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

ER -

Other publications by the same author(s)

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

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, In: Machines. 13, 2, 20 p., 110.

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

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, In: Mathematics and Computers in Simulation. 228, p. 178-201 24 p.

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

Mathematics in Robot Control for Theoretical and Applied Problems

Mercorelli, P. (Editor), Sergiyenko, O. Y. (Editor) & Tsymbal, O. (Editor), 22.04.2025, Basel: MDPI AG. 296 p. (Mathematics)

Research output: Books and anthologies › Collected editions and anthologies › Research

DOI

Recently viewed

Publications

  1. Evaluation of Time/Phase Parameters in Frequency Measurements for Inertial Navigation Systems
  2. An MPC for an Aggregate Actuator with a Self-Tuning Feedforward Control
  3. A model predictive control for an aggregate actuator with a self-tuning initial condition procedure in combustion engines
  4. Unity and diversity in the law of state responsibility
  5. Control condition design and implementation features in controlled trials
  6. A simple fuzzy controller for robot manipulators with bounded inputs
  7. The Use of Factorization and Multimode Parametric Spectra in Estimating Frequency and Spectral Parameters of Signal
  8. Using Local and Global Self-Evaluations to Predict Students' Problem Solving Behaviour
  9. A decoupled MPC using a geometric approach and feedforward action for motion control in robotino
  10. Digital Control of a Camless Engine Using Lyapunov Approach with Backward Euler Approximation
  11. Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino
  12. Methodologies for Noise and Gross Error Detection using Univariate Signal-Based Approaches in Industrial Application
  13. Classical PI Controllers with Anti-Windup Techniques Applied on Level Systems
  14. Joint entity and relation linking using EARL
  15. Introducing parametric uncertainty into a nonlinear friction model
  16. Changes of Perception
  17. Geographical patterns in prediction errors of species distribution models
  18. Recurrence quantificationanalysis as a general-purpose tool for bridging the gap between qualitative and quantitative analysis
  19. A localized boundary element method for the floating body problem
  20. Robust Flatness Based Control of an Electromagnetic Linear Actuator Using Adaptive PID Controller
  21. Knowledge Graph Question Answering Using Graph-Pattern Isomorphism
  22. On finding nonisomorphic connected subgraphs and distinct molecular substructures.
  23. Comments on "Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics"
  24. A guided simulated annealing search for solving the pick-up and delivery problem with time windows and capacity constraints
  25. Using Fuzzy PD Controllers for Soft Motions in a Car-like Robot
  26. Graphism and Flatness. The Line as Mediator between Time and Space, Intuition and Concept
  27. On the Nonlinearity Compensation in Permanent Magnet Machine Using a Controller Based on a Controlled Invariant Subspace
  28. Data based analysis of order processing strategies to support the positioning between conflicting economic and logistic objectives
  29. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  30. Continuous 3D scanning mode using servomotors instead of stepping motors in dynamic laser triangulation
  31. Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction
  32. A Matlab/Simulink toolbox for inversion of local linear model trees
  33. Soft Optimal Computing Methods to Identify Surface Roughness in Manufacturing Using a Monotonic Regressor
  34. Species composition and forest structure explain the temperature sensitivity patterns of productivity in temperate forests
  35. Harvesting information from captions for weakly supervised semantic segmentation
  36. A computational study of a model of single-crystal strain-gradient viscoplasticity with an interactive hardening relation
  37. Database on Learning for Sustainable Development – analysis of projects
  38. Improving short-term academic performance in the flipped classroom using dynamic geometry software
  39. Understanding storytelling in the context of information systems
  40. Generating Energy Optimal Powertrain Force Trajectories with Dynamic Constraints
  41. Improving students’ science text comprehension through metacognitive self-regulation when applying learning strategies
  42. Robust feedback linearization control of a throttle plate by using an approximated pd regulator
  43. A Lyapunov based PI controller with an anti-windup scheme for a purification process of potable water
  44. Mirrored piezo servo hydraulic actuators for use in camless combustion engines and its Control with mirrored inputs and MPC