Please use this identifier to cite or link to this item:
https://hdl.handle.net/10216/69998| Author(s): | António Paulo Moreira Paulo Gomes da Costa André Conceição |
| Title: | Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
| Issue Date: | 2007 |
| Abstract: | - This paper presents a nonlinear model basedpredictive controller (NMPC) for trajectory tracking of theMiddle-size Omnidirectional Robots from the 5DPO RoboticSoccer team. The strategy proposed uses methods of numericaloptimization to perform real time nonlinear minimization ofthe cost function. The cost function penalizes the robot positionerror, the robot orientation angle error and the control effort.Experimental results of the trajectories following and theperformance of the methods of optimization are presented. |
| Subject: | Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| URI: | https://repositorio-aberto.up.pt/handle/10216/69998 |
| Source: | Proceedings of ROBOTICA2007 |
| Document Type: | Artigo em Livro de Atas de Conferência Internacional |
| Rights: | openAccess |
| License: | https://creativecommons.org/licenses/by-nc/4.0/ |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
This item is licensed under a Creative Commons License
