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 language | English |
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| Title of host publication | 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014 |
| Number of pages | 7 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 18.06.2014 |
| Pages | 1337-1343 |
| Article number | 6871967 |
| ISBN (Print) | 9781479947492 |
| ISBN (Electronic) | 978-147994749-2 |
| DOIs | |
| Publication status | Published - 18.06.2014 |
| Event | International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014 - Ischia, Italy Duration: 18.06.2014 → 20.06.2014 |
- Engineering - Model predictive control, Motion control, Power electronics, Predictive control systems