{"title":"带摩擦补偿的全向移动机器人预测控制","authors":"A. S. Conceição, C. Dórea, Julio C.L. Barreto Sb.","doi":"10.1109/LARS.2010.22","DOIUrl":null,"url":null,"abstract":"This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient linear MPC algorithms under constraints. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"65 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation\",\"authors\":\"A. S. Conceição, C. Dórea, Julio C.L. Barreto Sb.\",\"doi\":\"10.1109/LARS.2010.22\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient linear MPC algorithms under constraints. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.\",\"PeriodicalId\":268931,\"journal\":{\"name\":\"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting\",\"volume\":\"65 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-10-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/LARS.2010.22\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/LARS.2010.22","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation
This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient linear MPC algorithms under constraints. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
