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Title:
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Model reference switching quasi-LPV control of a four wheeled omnidirectional robot
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Author:
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Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
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Abstract:
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In this paper, the problem of trajectory tracking for a four wheeled omnidirectional robot is solved in the inertial fixed coordinate system. The solution relies on a reference model approach, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an LPV controller using Linear Matrix Inequalities (LMI)-based techniques. In particular, the controller is obtained within the switching LPV framework. The effectiveness of the
proposed approach is shown through simulation results. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control
-Linear parametric varying control
-Linear parameter-varying systems
-Control of switched systems
-Tracking
-Mobile robots
-Robots -- Control automàtic |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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