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
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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. / 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
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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 -