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Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino

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

Authors

This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. 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 a preselecting matrix. Simulation results using real data of Robotino are shown.

Original languageEnglish
Title of host publication2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014
Number of pages7
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date18.06.2014
Pages1337-1343
Article number6871967
ISBN (print)9781479947492
ISBN (electronic)978-147994749-2
DOIs
Publication statusPublished - 18.06.2014
EventInternational Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014 - Ischia, Italy
Duration: 18.06.2014 → 20.06.2014

    Research areas

  • Engineering - Model predictive control, Motion control, Power electronics, Predictive control systems

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An innovative efficiency of incubator to enhance organization supportive business using machine learning approach

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

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

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

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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

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