Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot

Detalhes bibliográficos
Autor(a) principal: Conceicao, André Gustavo Scolari
Data de Publicação: 2013
Outros Autores: Martinez, Luciana, Barreto Sobrinho, Julio César Lins, Dorea, Carlos Eduardo Trabuco, Pieri, Edson Roberto de
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFBA
Texto Completo: http://repositorio.ufba.br/ri/handle/ri/14223
Resumo: This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.
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spelling Conceicao, André Gustavo ScolariMartinez, LucianaBarreto Sobrinho, Julio César LinsDorea, Carlos Eduardo TrabucoPieri, Edson Roberto deConceicao, André Gustavo ScolariMartinez, LucianaBarreto Sobrinho, Julio César LinsDorea, Carlos Eduardo TrabucoPieri, Edson Roberto de2013-12-18T11:48:28Z2013Barreto S., J. C. L.; Conceicao, A. G. S.; Dorea, C. E. T.; Martinez, L.; de Pieri, E. R., "Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot," Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1,10, 0 doi: 10.1109/TMECH.2013.22431611083-4435http://repositorio.ufba.br/ri/handle/ri/14223PP,99This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.Submitted by Andre Gustavo Scolari Conceicao (andre.gustavo@ufba.br) on 2013-12-12T02:04:18Z No. of bitstreams: 1 06461945.pdf: 900210 bytes, checksum: c1a5e4315be921c0d4bec91e7567d299 (MD5)Approved for entry into archive by LIVIA FREITAS (livia.freitas@ufba.br) on 2013-12-18T11:48:23Z (GMT) No. of bitstreams: 1 06461945.pdf: 900210 bytes, checksum: c1a5e4315be921c0d4bec91e7567d299 (MD5)Made available in DSpace on 2013-12-18T11:48:28Z (GMT). No. of bitstreams: 1 06461945.pdf: 900210 bytes, checksum: c1a5e4315be921c0d4bec91e7567d299 (MD5) Previous issue date: 2013-02-14IEEE/ASME Transactions on MechatronicsIEEE10.1109/TMECH.2013.2243161reponame:Repositório Institucional da UFBAinstname:Universidade Federal da Bahia (UFBA)instacron:UFBAFrictionmobile robotsmodelingpredictive controlDesign and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robotinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article10000-01-01info:eu-repo/semantics/openAccessengORIGINAL06461945.pdf06461945.pdfapplication/pdf900210https://repositorio.ufba.br/bitstream/ri/14223/1/06461945.pdfc1a5e4315be921c0d4bec91e7567d299MD51LICENSElicense.txtlicense.txttext/plain1345https://repositorio.ufba.br/bitstream/ri/14223/2/license.txtff6eaa8b858ea317fded99f125f5fcd0MD52TEXT06461945.pdf.txt06461945.pdf.txtExtracted texttext/plain41176https://repositorio.ufba.br/bitstream/ri/14223/3/06461945.pdf.txtf57d20e6106dd6ab73bb455433db8270MD53ri/142232022-10-10 13:25:21.188oai:repositorio.ufba.br:ri/14223VGVybW8gZGUgTGljZW7vv71hLCBu77+9byBleGNsdXNpdm8sIHBhcmEgbyBkZXDvv71zaXRvIG5vIFJlcG9zaXTvv71yaW8gSW5zdGl0dWNpb25hbCBkYSBVRkJBLgoKIFBlbG8gcHJvY2Vzc28gZGUgc3VibWlzc++/vW8gZGUgZG9jdW1lbnRvcywgbyBhdXRvciBvdSBzZXUgcmVwcmVzZW50YW50ZSBsZWdhbCwgYW8gYWNlaXRhciAKZXNzZSB0ZXJtbyBkZSBsaWNlbu+/vWEsIGNvbmNlZGUgYW8gUmVwb3NpdO+/vXJpbyBJbnN0aXR1Y2lvbmFsIGRhIFVuaXZlcnNpZGFkZSBGZWRlcmFsIGRhIEJhaGlhIApvIGRpcmVpdG8gZGUgbWFudGVyIHVtYSBj77+9cGlhIGVtIHNldSByZXBvc2l077+9cmlvIGNvbSBhIGZpbmFsaWRhZGUsIHByaW1laXJhLCBkZSBwcmVzZXJ2Ye+/ve+/vW8uIApFc3NlcyB0ZXJtb3MsIG7vv71vIGV4Y2x1c2l2b3MsIG1hbnTvv71tIG9zIGRpcmVpdG9zIGRlIGF1dG9yL2NvcHlyaWdodCwgbWFzIGVudGVuZGUgbyBkb2N1bWVudG8gCmNvbW8gcGFydGUgZG8gYWNlcnZvIGludGVsZWN0dWFsIGRlc3NhIFVuaXZlcnNpZGFkZS4KCiBQYXJhIG9zIGRvY3VtZW50b3MgcHVibGljYWRvcyBjb20gcmVwYXNzZSBkZSBkaXJlaXRvcyBkZSBkaXN0cmlidWnvv73vv71vLCBlc3NlIHRlcm1vIGRlIGxpY2Vu77+9YSAKZW50ZW5kZSBxdWU6CgogTWFudGVuZG8gb3MgZGlyZWl0b3MgYXV0b3JhaXMsIHJlcGFzc2Fkb3MgYSB0ZXJjZWlyb3MsIGVtIGNhc28gZGUgcHVibGljYe+/ve+/vWVzLCBvIHJlcG9zaXTvv71yaW8KcG9kZSByZXN0cmluZ2lyIG8gYWNlc3NvIGFvIHRleHRvIGludGVncmFsLCBtYXMgbGliZXJhIGFzIGluZm9ybWHvv73vv71lcyBzb2JyZSBvIGRvY3VtZW50bwooTWV0YWRhZG9zIGVzY3JpdGl2b3MpLgoKIERlc3RhIGZvcm1hLCBhdGVuZGVuZG8gYW9zIGFuc2Vpb3MgZGVzc2EgdW5pdmVyc2lkYWRlIGVtIG1hbnRlciBzdWEgcHJvZHXvv73vv71vIGNpZW5077+9ZmljYSBjb20gCmFzIHJlc3Ryae+/ve+/vWVzIGltcG9zdGFzIHBlbG9zIGVkaXRvcmVzIGRlIHBlcmnvv71kaWNvcy4KCiBQYXJhIGFzIHB1YmxpY2Hvv73vv71lcyBzZW0gaW5pY2lhdGl2YXMgcXVlIHNlZ3VlbSBhIHBvbO+/vXRpY2EgZGUgQWNlc3NvIEFiZXJ0bywgb3MgZGVw77+9c2l0b3MgCmNvbXB1bHPvv71yaW9zIG5lc3NlIHJlcG9zaXTvv71yaW8gbWFudO+/vW0gb3MgZGlyZWl0b3MgYXV0b3JhaXMsIG1hcyBtYW5077+9bSBhY2Vzc28gaXJyZXN0cml0byAKYW8gbWV0YWRhZG9zIGUgdGV4dG8gY29tcGxldG8uIEFzc2ltLCBhIGFjZWl0Ye+/ve+/vW8gZGVzc2UgdGVybW8gbu+/vW8gbmVjZXNzaXRhIGRlIGNvbnNlbnRpbWVudG8KIHBvciBwYXJ0ZSBkZSBhdXRvcmVzL2RldGVudG9yZXMgZG9zIGRpcmVpdG9zLCBwb3IgZXN0YXJlbSBlbSBpbmljaWF0aXZhcyBkZSBhY2Vzc28gYWJlcnRvLgo=Repositório InstitucionalPUBhttp://192.188.11.11:8080/oai/requestopendoar:19322022-10-10T16:25:21Repositório Institucional da UFBA - Universidade Federal da Bahia (UFBA)false
dc.title.pt_BR.fl_str_mv Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
title Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
spellingShingle Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
Conceicao, André Gustavo Scolari
Friction
mobile robots
modeling
predictive control
title_short Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
title_full Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
title_fullStr Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
title_full_unstemmed Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
title_sort Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
author Conceicao, André Gustavo Scolari
author_facet Conceicao, André Gustavo Scolari
Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
author_role author
author2 Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
author2_role author
author
author
author
dc.contributor.author.fl_str_mv Conceicao, André Gustavo Scolari
Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
Conceicao, André Gustavo Scolari
Martinez, Luciana
Barreto Sobrinho, Julio César Lins
Dorea, Carlos Eduardo Trabuco
Pieri, Edson Roberto de
dc.subject.por.fl_str_mv Friction
mobile robots
modeling
predictive control
topic Friction
mobile robots
modeling
predictive control
description This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.
publishDate 2013
dc.date.accessioned.fl_str_mv 2013-12-18T11:48:28Z
dc.date.issued.fl_str_mv 2013
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.citation.fl_str_mv Barreto S., J. C. L.; Conceicao, A. G. S.; Dorea, C. E. T.; Martinez, L.; de Pieri, E. R., "Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot," Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1,10, 0 doi: 10.1109/TMECH.2013.2243161
dc.identifier.uri.fl_str_mv http://repositorio.ufba.br/ri/handle/ri/14223
dc.identifier.issn.none.fl_str_mv 1083-4435
dc.identifier.number.pt_BR.fl_str_mv PP,99
identifier_str_mv Barreto S., J. C. L.; Conceicao, A. G. S.; Dorea, C. E. T.; Martinez, L.; de Pieri, E. R., "Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot," Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1,10, 0 doi: 10.1109/TMECH.2013.2243161
1083-4435
PP,99
url http://repositorio.ufba.br/ri/handle/ri/14223
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.pt_BR.fl_str_mv 10.1109/TMECH.2013.2243161
dc.source.none.fl_str_mv reponame:Repositório Institucional da UFBA
instname:Universidade Federal da Bahia (UFBA)
instacron:UFBA
instname_str Universidade Federal da Bahia (UFBA)
instacron_str UFBA
institution UFBA
reponame_str Repositório Institucional da UFBA
collection Repositório Institucional da UFBA
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