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Model reference switching quasi-LPV control of a four wheeled omnidirectional robot

Author
Rotondo, D.; Nejjari, F.; Puig, V.
Type of activity
Presentation of work at congresses
Name of edition
19th World Congress of the International Federation of Automatic Control
Date of publication
2014
Presentation's date
2014-08-26
Book of congress proceedings
Preprints of the 19th World Congress of The International Federation of Automatic Control, Cape Town, South Africa. August 24-29, 2014
First page
4062
Last page
4067
Project funding
FI-DGR 2013FIB00218
MAKING SENSE OF NONSENSE
SHERECS (DPI2011-26243)
Repository
http://hdl.handle.net/2117/24124 Open in new window
Abstract
In this paper, the problem of trajectory tracking for a four wheeled omnidirectional robot is solved in the inertial fixed coordinate system. The solution relies on a reference model approach, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an LPV controller using Linear Matrix Inequalities (LMI)-based techniques. In particular, the controller is obtained within the switching LPV framework. The effectiveness of the propos...
Citation
Rotondo, D.; Nejjari, F.; Puig, V. Model reference switching quasi-LPV control of a four wheeled omnidirectional robot. A: World Congress of the International Federation of Automatic Control. "Preprints of the 19th World Congress of The International Federation of Automatic Control, Cape Town, South Africa. August 24-29, 2014". Cape Town: 2014, p. 4062-4067.
Keywords
Control of switched systems, Linear parameter-varying systems, Mobile robots, Tracking
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

Participants