Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot

dc.creatorConceicao, André Gustavo Scolari
dc.creatorMartinez, Luciana
dc.creatorBarreto Sobrinho, Julio César Lins
dc.creatorDorea, Carlos Eduardo Trabuco
dc.creatorPieri, Edson Roberto de
dc.creatorConceicao, André Gustavo Scolari
dc.creatorMartinez, Luciana
dc.creatorBarreto Sobrinho, Julio César Lins
dc.creatorDorea, Carlos Eduardo Trabuco
dc.creatorPieri, Edson Roberto de
dc.date.issued2013
dc.identifierBarreto 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
dc.identifier1083-4435
dc.identifierhttp://repositorio.ufba.br/ri/handle/ri/14223
dc.identifierPP,99
dc.description.abstractThis 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.
dc.languageen
dc.publisherIEEE
dc.rightsAcesso Aberto
dc.source10.1109/TMECH.2013.2243161
dc.subjectFriction
dc.subjectmobile robots
dc.subjectmodeling
dc.subjectpredictive control
dc.titleDesign and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
dc.typeArtigo de Periódico


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