Please use this identifier to cite or link to this item: http://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
URI: http://hdl.handle.net/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

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