Artigo de Periódico
Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
Fecha
2013Registro en:
Barreto S., J. C. L.; Conceicao, A. G. S.; Dorea, C. E. T.; Martinez, L.; de Pieri, E. R., "Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot," Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1,10, 0 doi: 10.1109/TMECH.2013.2243161
1083-4435
PP,99
Autor
Conceicao, André Gustavo Scolari
Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
Conceicao, André Gustavo Scolari
Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
Institución
Resumen
This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.