1. //
  2. Start
  3. //
  4. Publications
  5. //
  6. Using the flatness of DC-Drives to emula...
  7. //

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

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. Using a Longitudinal Mixed-Methods Approach in HESD Research: Reflections on Pitfalls and Added Value
  2. Presentation of the paper entitled "Soft Optimal Computing to Identify Surface Roughness in Manufacturing using a Gaussian and a Trigonometric Regressor"
  3. Cluster-based Extraction of Finite-time Coherent Sets from Trajectory Data
  4. Data-efficient Pattern Detection in Elite Soccer
  5. Toward Interconnected Object Histories: Challenges and Opportunities in the Creation of Provenance Linked Open Data
  6. Serial Despite Itself: "Pan" Between Deep and Differentiated Time
  7. Students' use of feedback when working on fractions with a digital learning platform and its effects on mathematical performance
  8. The calculated complexity of organisation: Im workshop „Identity and Organisation“.
  9. From Iconography to Visual Framing: A New Approach in Visual Communication
  10. Support Vector Machines for Collective Inference
  11. From Text to Data: AI and Human Expertise in Provenance Linked Open Data

Publications

  1. A discrete-time fractional order PI controller for a three phase synchronous motor using an optimal loop shaping approach
  2. Globally asymptotic output feedback tracking of robot manipulators with actuator constraints
  3. Construct Objectification and De-Objectification in Organization Theory
  4. A model predictive control in Robotino and its implementation using ROS system
  5. Long-term memory predictors of adult language learning at the interface between syntactic form and meaning
  6. Comparing the performance of computational estimation methods for physicochemical properties of dimethylsiloxanes and selected siloxanols
  7. Human–learning–machines: introduction to a special section on how cybernetics and constructivism inspired new forms of learning
  8. A change of values is in the air
  9. Integrating errors into the training process
  10. Analysis of Complexity Reduction in Kalman Filters Through Decoupling Control With Chattered Inputs in PMSM
  11. TextGraphs 2024 Shared Task on Text-Graph Representations for Knowledge Graph Question Answering
  12. Fast, Fully Automated Analysis of Voriconazole from Serum by LC-LC-ESI-MS-MS with Parallel Column-Switching Technique
  13. Using learning protocols for knowledge acquisition and problem solving with individual and group incentives
  14. The Influence of Note-taking on Mathematical Solution Processes while Working on Reality-Based Tasks
  15. Predicting the Difficulty of Exercise Items for Dynamic Difficulty Adaptation in Adaptive Language Tutoring
  16. Effectiveness of a guided multicomponent internet and mobile gratitude training program - A pragmatic randomized controlled trial
  17. A Review of Latent Variable Modeling Using R - A Step-by-Step-Guide
  18. An Orthogonal Wavelet Denoising Algorithm for Surface Images of Atomic Force Microscopy
  19. Stability analysis of a linear model predictive control and its application in a water recovery process
  20. Supporting the Development and Realization of Data-Driven Business Models with Enterprise Architecture Modeling and Management
  21. Building a process layer for business applications using the blackboard pattern
  22. Expertise in research integration and implementation for tackling complex problems
  23. Comparing the Sensitivity of Social Networks, Web Graphs, and Random Graphs with Respect to Vertex Removal
  24. Binary Random Nets I
  25. Partitioned beta diversity patterns of plants across sharp and distinct boundaries of quartz habitat islands
  26. Efficient Order Picking Methods in Robotic Mobile Fulfillment Systems
  27. Guest Editorial Special Issue on Sensors in Machine Vision of Automated Systems
  28. Data-driven and physics-based modelling of process behaviour and deposit geometry for friction surfacing
  29. Machine Learning and Knowledge Discovery in Databases
  30. Four Methods to Distinguish between Fractal Dimensions in Time Series through Recurrence Quantification Analysis
  31. The elicitation process in developing of case library for Case-Based Reasoner system whilst consideration for validating electronic communication technologies