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Title:
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Identification and switching quasi-LPV control of a four wheeled omnidirectional robot
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Author:
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Rotondo, Damiano; Romera Formiguera, Juli; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha
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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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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. |
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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
-Robots -- Control systems
-Robots -- Control automàtic
-Robots -- Sistemes de control |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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