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

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.

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, (E-pub ahead of print) In: IEEE Open Journal of Power Electronics. 14 p.

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

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, In: Machines. 13, 2, 20 p., 110.

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

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, In: Mathematics and Computers in Simulation. 228, p. 178-201 24 p.

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

Neural Network-Based Finite-Time Control for Stochastic Nonlinear Systems with Input Dead-Zone and Saturation

Kharrat, M., Krichen, M., Alhazmi, H. & Mercorelli, P., 11.01.2025, (E-pub ahead of print) In: Arabian Journal for Science and Engineering. 11 p.

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

DOI

Recently viewed

Publications

  1. Does it pay to be active on many foreign markets? profitability in german multi-market exporters and importers from manufacturing industries
  2. Institutional ownership and board governance. A structured literature review on the heterogeneous monitoring role of institutional investors
  3. Effect of overlapping audit and compensation committee memberships on the readability of management compensation reports in the German HDAX
  4. New evidence for vegetation development and timing of Upper Middle Pleistocene interglacials in Northern Germany and tentative correlations
  5. A New Framework for Production Planning and Control to Support the Positioning in Fields of Tension Created by Opposing Logistic Objectives
  6. Enhancement of the mechanical properties of semi-stationary bobbin tool friction stir welded joints in AA2219 through post-weld heat treatment
  7. Long-term health-related quality of life after decompressive hemicraniectomy in stroke patients with life-threatening space-occupying brain edema
  8. Using a Bivariate Polynomial in an EKF for State and Inductance Estimations in the Presence of Saturation Effects to Adaptively Control a PMSM
  9. Kosten-Effektivitäts-Analyse eines Online Programmes zur Reduktion von depressiven Beschwerden bei Personen mit Diabetes mellitus Typ 1 und Typ 2
  10. Entwicklung und erste Validierung eines Situational-Judgement-Instruments zur Erfassung von Kompetenzen im Bereich des Ressourcenmanagements (ReMI)
  11. Effects of introspective vs. extraspective instruction in scaling of hedonic properties of flavouring ingredients by Chinese and German subjects
  12. Zusammenhänge zwischen einem gemeinsamen Unterricht und kognitiven und non-kognitiven Outcomes von Kindern ohne sonderpädagogischen Förderbedarf
  13. Effects of different video- or text-based reflection stimuli on pre-service teachers’ emotions, immersion, cognitive load and knowledge-based reasoning
  14. Perspektive Nachhaltigkeit: Zur beruflichen Zufriedenheit und Belastung von psychiatrischen Fachärzten in der ambulanten Versorgung in der Schweiz
  15. Die Bedeutung des pädagogisch-psychologischen Wissens für die Qualität der Klassenführung und den Lernzuwachs der Schüler/innen im Physikunterricht
  16. Valuing regulating services (climate regulation) from UK terrestrial ecosystems, Report to the Economics Team of the UK National Ecosystem Assessment
  17. An IAD framework analysis of minigrid institutions for sustainable rural electrification in East Africa
  18. Die Implementierung von Prüfungsausschüssen/Audit Committees des Aufsichts-rats/Board of Directors mit unabhängigen und finanzkompetenten Mitgliedern
  19. Vom Betrieb in die Domäne – Partizipative Entwicklung nachhaltigkeitsorientierter Lernaufgaben für die Berufsausbildung in der Lebensmittelindustrie
  20. Zusammenhänge der Klassenkomposition an Förderschulen und allgemeinen Schulen mit schulischen Kompetenzen, akademischem Selbstkonzept und Interesse
  21. Netzwerkbasierte Betrachtung von ko-konstruktiven Interaktionsprozessen im Unterricht – Ein Ansatz zur Beschreibung und Analyse von Angebot und Nutzung
  22. Comparing self-reported and O*NET-based assessments of job control as predictors of self-rated health for non-Hispanic whites and racial/ethnic minorities
  23. The effect of extrusion ratio and material flow on the mechanical properties of aluminum profiles solid state recycled from 6060 aluminum alloy chips
  24. Zum Einfluss des pädagogisch-psychologischen Professionswissens auf die Unterrichtsqualität und das situationale Interesse der Schülerinnen und Schüler.