A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

Daniel Straßberger; Paolo Mercorelli; Oleg Yu Sergiyenko

doi:10.1088/1742-6596/659/1/012029

A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

Daniel Straßberger
, Paolo Mercorelli
, Oleg Yu Sergiyenko

Professur für Regelungs- und Antriebstechnik

Autonome Universität von Baja California

Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › Begutachtung

3 Zitate (Scopus)

40 Downloads (Pure)

Abstract

This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.

Originalsprache	Englisch
Aufsatznummer	012029
Zeitschrift	Journal of Physics: Conference Series
Jahrgang	659
Ausgabenummer	1
Seitenumfang	10
ISSN	1742-6588
DOIs	https://doi.org/10.1088/1742-6596/659/1/012029
Publikationsstatus	Erschienen - 19.11.2015

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© Published under licence by IOP Publishing Ltd.

Fachgebiete und Schlagwörter

Ingenieurwissenschaften

ASJC Scopus Sachgebiete

Physik und Astronomie (insg.)

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abstract = "This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.",

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Y1 - 2015/11/19

N2 - This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.

AB - This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, 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 the inverse DC-drive model. Simulation results using real data of Robotino are shown.

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A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

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