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

Daniel Straßberger; Paolo Mercorelli; Anthimos Georgiadis

doi:10.1109/SPEEDAM.2014.6871967

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

Standard

Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino. / Straßberger, Daniel; Mercorelli, Paolo ; Georgiadis, Anthimos.
2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014. IEEE - Institute of Electrical and Electronics Engineers Inc., 2014. p. 1337-1343 6871967 (2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014).

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

Harvard

Straßberger, D, Mercorelli, P & Georgiadis, A 2014, Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino. in 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014., 6871967, 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1337-1343, International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014, Ischia, Italy, 18.06.14. https://doi.org/10.1109/SPEEDAM.2014.6871967

APA

Straßberger, D., Mercorelli, P., & Georgiadis, A. (2014). Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino. In 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014 (pp. 1337-1343). Article 6871967 (2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SPEEDAM.2014.6871967

Vancouver

Straßberger D, Mercorelli P , Georgiadis A. Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino. In 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014. IEEE - Institute of Electrical and Electronics Engineers Inc. 2014. p. 1337-1343. 6871967. (2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014). doi: 10.1109/SPEEDAM.2014.6871967

Bibtex

@inbook{d4ca25e7fc364bdd9372dcc853747a50,

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

abstract = "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.",

keywords = "Engineering, Model predictive control, Motion control, Power electronics, Predictive control systems",

author = "Daniel Stra{\ss}berger and Paolo Mercorelli and Anthimos Georgiadis",

year = "2014",

month = jun,

day = "18",

doi = "10.1109/SPEEDAM.2014.6871967",

language = "English",

isbn = "9781479947492",

series = "2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "1337--1343",

booktitle = "2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014",

address = "United States",

note = "International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014, SPEEDAM 2014 ; Conference date: 18-06-2014 Through 20-06-2014",

}

RIS

TY - CHAP

T1 - Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino

AU - Straßberger, Daniel

AU - Mercorelli, Paolo

AU - Georgiadis, Anthimos

PY - 2014/6/18

Y1 - 2014/6/18

N2 - 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.

AB - 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.

KW - Engineering

KW - Model predictive control

KW - Motion control

KW - Power electronics

KW - Predictive control systems

UR - http://www.scopus.com/inward/record.url?scp=84906658483&partnerID=8YFLogxK

U2 - 10.1109/SPEEDAM.2014.6871967

DO - 10.1109/SPEEDAM.2014.6871967

M3 - Article in conference proceedings

SN - 9781479947492

T3 - 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014

SP - 1337

EP - 1343

BT - 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014

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

T2 - International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2014

Y2 - 18 June 2014 through 20 June 2014

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.