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Modeling and robust low level control of an omnidirectional mobile robot

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10.1115/1.4035089
 
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hdl:2117/103544

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Comasòlivas Font, RamonMés informacióMés informacióMés informació
Quevedo Casín, Joseba JokinMés informacióMés informacióMés informació
Escobet Canal, TeresaMés informacióMés informacióMés informació
Escobet Canal, AntoniMés informacióMés informacióMés informació
Romera Formiguera, JuliMés informació
Document typeArticle
Defense date2017-04-01
Rights accessRestricted access - publisher's policy
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
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–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.
CitationComasolivas, 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. 
URIhttp://hdl.handle.net/2117/103544
DOI10.1115/1.4035089
ISSN1528-9028
Publisher versionhttp://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2579739
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  • Departament d'Enginyeria Minera, Industrial i TIC - Articles de revista [413]
  • SIC - Sistemes Intel·ligents de Control - Articles de revista [135]
  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista [1.536]
  • SAC - Sistemes Avançats de Control - Articles de revista [558]
  • SOCO - Soft Computing - Articles de revista [67]
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