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. Par...

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Bibliographic Details

Published in:	2010 Latin American Robotics Symposium and Intelligent Robotics Meeting pp. 30 - 35
Main Authors:	Conceicao, Andre G S, Dorea, Carlos E T, Sb, Julio C L Barreto
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-10-2010
Subjects:	Autonomous mobile robots Friction Mathematical model Mobile robots Model predictive control Modeling Predictive models Simulation Trajectory
Online Access:	Get full text
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