Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots
Autor(a) principal: | |
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Data de Publicação: | 2007 |
Outros Autores: | , |
Tipo de documento: | Livro |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | https://repositorio-aberto.up.pt/handle/10216/69998 |
Resumo: | - 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. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robotsEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineering- 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.20072007-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://repositorio-aberto.up.pt/handle/10216/69998engAntónio Paulo MoreiraPaulo Gomes da CostaAndré Conceiçãoinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T14:27:13Zoai:repositorio-aberto.up.pt:10216/69998Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:01:35.616921Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
title |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
spellingShingle |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots António Paulo Moreira Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
title_short |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
title_full |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
title_fullStr |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
title_full_unstemmed |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
title_sort |
Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots |
author |
António Paulo Moreira |
author_facet |
António Paulo Moreira Paulo Gomes da Costa André Conceição |
author_role |
author |
author2 |
Paulo Gomes da Costa André Conceição |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
António Paulo Moreira Paulo Gomes da Costa André Conceição |
dc.subject.por.fl_str_mv |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
topic |
Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
description |
- 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. |
publishDate |
2007 |
dc.date.none.fl_str_mv |
2007 2007-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/book |
format |
book |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://repositorio-aberto.up.pt/handle/10216/69998 |
url |
https://repositorio-aberto.up.pt/handle/10216/69998 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799135939493101568 |