Daniel Strassberger, Paolo Mercorelli, A. Georgiadis
{"title":"Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino","authors":"Daniel Strassberger, Paolo Mercorelli, A. Georgiadis","doi":"10.1109/SPEEDAM.2014.6871967","DOIUrl":null,"url":null,"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.","PeriodicalId":344918,"journal":{"name":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","volume":"108 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SPEEDAM.2014.6871967","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
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.
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