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Modeling and robust low level control of an omnidirectional mobile robot

Author
Comasolivas, R.; Quevedo, J.; Escobet, T.; Escobet, A.; Romera, J.
Type of activity
Journal article
Journal
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Date of publication
2017-04-01
Volume
139
Number
4
First page
1
Last page
9
DOI
https://doi.org/10.1115/1.4035089 Open in new window
Repository
http://hdl.handle.net/2117/103544 Open in new window
URL
http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2579739 Open in new window
Abstract
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...
Citation
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.
Keywords
Control equipment, Design, Feedback, Mobile robots, Modeling, Quantum field theory, Robotics, Robots, Stability, Wheels
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems
SIC - Smart Control Systems