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https://hdl.handle.net/10216/69998Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.creator | António Paulo Moreira | |
| dc.creator | Paulo Gomes da Costa | |
| dc.creator | André Conceição | |
| dc.date.accessioned | 2019-02-05T18:52:08Z | - |
| dc.date.available | 2019-02-05T18:52:08Z | - |
| dc.date.issued | 2007 | |
| dc.identifier.other | sigarra:65651 | |
| dc.identifier.uri | https://repositorio-aberto.up.pt/handle/10216/69998 | - |
| dc.description.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. | |
| dc.language.iso | eng | |
| dc.relation.ispartof | Proceedings of ROBOTICA2007 | |
| dc.rights | openAccess | |
| dc.rights.uri | https://creativecommons.org/licenses/by-nc/4.0/ | |
| dc.subject | Engenharia electrotécnica, electrónica e informática | |
| dc.subject | Electrical engineering, Electronic engineering, Information engineering | |
| dc.title | Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots | |
| dc.type | Artigo em Livro de Atas de Conferência Internacional | |
| dc.contributor.uporto | Faculdade de Engenharia | |
| dc.subject.fos | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática | |
| dc.subject.fos | Engineering and technology::Electrical engineering, Electronic engineering, Information engineering | |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional | |
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