{"title":"四轮全向机器人的识别与切换准lpv控制","authors":"D. Rotondo, J. Romera, V. Puig, F. Nejjari","doi":"10.1109/MED.2014.6961522","DOIUrl":null,"url":null,"abstract":"This paper presents the quasi-Linear Parameter Varying (quasi-LPV) modeling, identification and control of a four wheeled omnidirectional robot. The unknown nonlinear model parameters of the four wheeled robot have been calibrated by means of the nonlinear least squares identification approach and validated against real data. Introducing a reference model that generates the desired trajectory, the resulting nonlinear error model is brought to a quasi-LPV form suitable for designing a controller using Linear Matrix Inequalities (LMIs). In particular, the controller is obtained within the switching LPV framework. The effectiveness of the proposed approach is shown and proved through experimental results.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"46 Suppl 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Identification and switching quasi-LPV control of a four wheeled omnidirectional robot\",\"authors\":\"D. Rotondo, J. Romera, V. Puig, F. Nejjari\",\"doi\":\"10.1109/MED.2014.6961522\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the quasi-Linear Parameter Varying (quasi-LPV) modeling, identification and control of a four wheeled omnidirectional robot. The unknown nonlinear model parameters of the four wheeled robot have been calibrated by means of the nonlinear least squares identification approach and validated against real data. Introducing a reference model that generates the desired trajectory, the resulting nonlinear error model is brought to a quasi-LPV form suitable for designing a controller using Linear Matrix Inequalities (LMIs). In particular, the controller is obtained within the switching LPV framework. The effectiveness of the proposed approach is shown and proved through experimental results.\",\"PeriodicalId\":127957,\"journal\":{\"name\":\"22nd Mediterranean Conference on Control and Automation\",\"volume\":\"46 Suppl 1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-06-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"22nd Mediterranean Conference on Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2014.6961522\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"22nd Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2014.6961522","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Identification and switching quasi-LPV control of a four wheeled omnidirectional robot
This paper presents the quasi-Linear Parameter Varying (quasi-LPV) modeling, identification and control of a four wheeled omnidirectional robot. The unknown nonlinear model parameters of the four wheeled robot have been calibrated by means of the nonlinear least squares identification approach and validated against real data. Introducing a reference model that generates the desired trajectory, the resulting nonlinear error model is brought to a quasi-LPV form suitable for designing a controller using Linear Matrix Inequalities (LMIs). In particular, the controller is obtained within the switching LPV framework. The effectiveness of the proposed approach is shown and proved through experimental results.