On the Functional Controllability Using a Geometric Approach Together with a Decoupled MPC for Motion Control in Robotino
نویسندگان
چکیده
Abstract—This paper proposes a functional controller for motion control of the Robotino. The proposed controller takes under consideration a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C, continuous functions with third derivative also continuous. 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 the inverse DCdrive model. Simulation results using real data of Robotino are shown.
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