Pregled bibliografske jedinice broj: 1279804
ROS Framework for Distributed Control of Networks of Dynamical Systems
ROS Framework for Distributed Control of Networks of Dynamical Systems // MIPRO 2023 / Skala, Karolj (ur.).
Opatija, Hrvatska, 2023. str. 387-393 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1279804 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
ROS Framework for Distributed Control of Networks of Dynamical Systems
Autori
Rossi, Matija ; Jokić, Andrej
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
MIPRO 2023
/ Skala, Karolj - , 2023, 387-393
Skup
MIPRO 2023 46th ICT and Electronics Convention
Mjesto i datum
Opatija, Hrvatska, 22.05.2023. - 26.05.2023
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Control systems ; dynamical networks ; robot operating system ; distributed control
Sažetak
In this paper we present a software package developed to accommodate flexible and efficient modelling and simulation of networks of dynamical systems with distributed control structures. The package is implemented within the Robot Operating System (ROS), which is becoming a standard software implementation tool in robotics, mechatronics and wider. The developed package is characterized with the following features: implementation of distributed controllers with both off-line predefined control laws in closed form and with on-line iterative solving of an optimisation problem (distributed model predictive control) ; modular structure which allows the user to easily modify the subsystems in the network, as well as the number of subsystems ; allows for straightforward implementation of controllers onto real physical systems.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
Citiraj ovu publikaciju:
Časopis indeksira:
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- Scopus
