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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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DOI

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