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dc.contributor.authorComasòlivas Font, Ramon
dc.contributor.authorQuevedo Casín, Joseba Jokin
dc.contributor.authorEscobet Canal, Teresa
dc.contributor.authorEscobet Canal, Antoni
dc.contributor.authorRomera Formiguera, Juli
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Minera, Industrial i TIC
dc.date.accessioned2017-04-19T08:19:52Z
dc.date.issued2017-04-01
dc.identifier.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.
dc.identifier.issn1528-9028
dc.identifier.urihttp://hdl.handle.net/2117/103544
dc.description.abstractThis 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.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshQuantum field theory
dc.subject.lcshMobile robots
dc.subject.lcshStability
dc.subject.lcshRobotics
dc.subject.otherQuantum field theory
dc.subject.otherControl equipment
dc.subject.otherFeedback
dc.subject.otherMobile robots
dc.subject.otherWheels
dc.subject.otherDesign
dc.subject.otherRobotics
dc.subject.otherModeling
dc.subject.otherRobots
dc.subject.otherStability
dc.titleModeling and robust low level control of an omnidirectional mobile robot
dc.typeArticle
dc.subject.lemacCamps, Teoria quàntica de
dc.subject.lemacRobots mòbils
dc.subject.lemacEstabilitat
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control
dc.contributor.groupUniversitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.contributor.groupUniversitat Politècnica de Catalunya. SOCO - Soft Computing
dc.identifier.doi10.1115/1.4035089
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2579739
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac19740539
dc.description.versionPostprint (author's final draft)
dc.date.lift10000-01-01
local.citation.authorComasolivas, R.; Quevedo, J.; Escobet, T.; Escobet, A.; Romera, J.
local.citation.publicationNameJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
local.citation.volume139
local.citation.number4


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