Predictive control applied to 5DPO - RoboCup middle-size omnidirectional robots

Bibliographic Details
Main Author: António Paulo Moreira
Publication Date: 2007
Other Authors: Paulo Gomes da Costa, André Conceição
Format: Book
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: https://repositorio-aberto.up.pt/handle/10216/69998
Summary: - 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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spelling 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:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-02-27T18:45:37Zoai:repositorio-aberto.up.pt:10216/69998Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T22:57:43.566235Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
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:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
_version_ 1833599950548631553

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