학술논문
Low level control of an omnidirectional mobile robot
Document Type
Conference
Author
Source
2015 23rd Mediterranean Conference on Control and Automation (MED) Control and Automation (MED), 2015 23th Mediterranean Conference on. :1160-1166 Jun, 2015
Subject
Language
Abstract
This paper presents the low level control of an holonomic robot with four omnidirectional wheels. A robust control technique named Quantitative Feedback Theory (QFT), based on an uncertain linear model has been selected to design the PID speed controllers for the four-wheeled robot. A piecewise model has been estimated by means of the least squares estimation approach based on experimental results of the robot in closed loop. In particular, the control is designed using this piecewise model. The performances of the proposed approach are analyzed in real time domain.