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. On the Nonlinearity Compensation in Permanent Magnet Machine Using a Controller Based on a Controlled Invariant Subspace
  2. An Orthogonal Wavelet Denoising Algorithm for Surface Images of Atomic Force Microscopy
  3. Stability analysis of a linear model predictive control and its application in a water recovery process
  4. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  5. Data-Driven flood detection using neural networks
  6. Passive Peak Voltage Sensor for Multiple Sending Coils Inductive Power Transmission System
  7. A Gait Pattern Generator for Closed-Loop Position Control of a Soft Walking Robot
  8. A two-stage Kalman estimator for motion control using model predictive strategy
  9. Continuous 3D scanning mode using servomotors instead of stepping motors in dynamic laser triangulation
  10. A general structural property in wavelet packets for detecting oscillation and noise components in signal analysis
  11. A denoising procedure using wavelet packets for instantaneous detection of pantograph oscillations
  12. Perfect anti-windup in output tracking scheme with preaction
  13. Simulation based comparison of safety-stock calculation methods
  14. Primary Side Circuit Design of a Multi-coil Inductive System for Powering Wireless Sensors
  15. Continuous and Discrete Concepts for Detecting Transport Barriers in the Planar Circular Restricted Three Body Problem
  16. Convolutional Neural Networks
  17. A New Framework for Production Planning and Control to Support the Positioning in Fields of Tension Created by Opposing Logistic Objectives
  18. Cognitive load and instructionally supported learning with provided and learner-generated visualizations
  19. Using cross-recurrence quantification analysis to compute similarity measures for time series of unequal length with applications to sleep stage analysis
  20. PI and Fuzzy Controllers for Non-Linear Systems
  21. Long-term memory predictors of adult language learning at the interface between syntactic form and meaning
  22. A geometric approach for controlling an electromagnetic actuator with the help of a linear Model Predictive Control
  23. Dynamically adjusting the k-values of the ATCS rule in a flexible flow shop scenario with reinforcement learning
  24. Modeling and numerical simulation of multiscale behavior in polycrystals via extended crystal plasticity
  25. Transductive support vector machines for structured variables
  26. Switching Dispatching Rules with Gaussian Processes
  27. Introducing parametric uncertainty into a nonlinear friction model
  28. A computational study of a model of single-crystal strain-gradient viscoplasticity with an interactive hardening relation
  29. Multi-view discriminative sequential learning
  30. Combining multiple investigative approaches to unravel functional responses to global change in the understorey of temperate forests
  31. Web-scale extension of RDF knowledge bases from templated websites
  32. Improving short-term academic performance in the flipped classroom using dynamic geometry software
  33. Positioning Improvement for a Laser Scanning System using cSORPD control
  34. An analytical approach to evaluating nonmonotonic functions of fuzzy numbers