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Modeling and robust low level control of an omnidirectional mobile robot

Autor
Comasolivas, R.; Quevedo, J.; Escobet, T.; Escobet, A.; Romera, J.
Tipus d'activitat
Article en revista
Revista
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Data de publicació
2017-04-01
Volum
139
Número
4
Pàgina inicial
1
Pàgina final
9
DOI
https://doi.org/10.1115/1.4035089 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/103544 Obrir en finestra nova
URL
http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2579739 Obrir en finestra nova
Resum
This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss...
Citació
Comasolivas, R., Quevedo, J., Escobet, T., Escobet, A., Romera, J. Modeling and robust low level control of an omnidirectional mobile robot. "Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME", 1 Abril 2017, vol. 139, núm. 4.
Paraules clau
Control equipment, Design, Feedback, Mobile robots, Modeling, Quantum field theory, Robotics, Robots, Stability, Wheels
Grup de recerca
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Sistemes Avançats de Control
SIC - Sistemes Intel·ligents de Control