Smith-predictor compensator for a delayed omnidirectional mobile robot

M. Velasco-Villa, B. Del-Muro-Cuellar, A. Alvarez-Aguirre

Research output: Contribution to conferencePaper

13 Citations (Scopus)

Abstract

This paper deals with the discrete time control of an omnidirectional mobile robot subject to transport delays. A discrete-time model of the vehicle is obtained by considering an exact discretization of the continuous time model of the robot where the time delay induced by a communication network is considered. The path-tracking problem is addressed by means of a prediction strategy based on the well known Smith predictor compensator. The nonlinear nature of the omnidirectional mobile robot induces an approximate estimate of the future values of the systems that are used together with a feedback linearization approach to solve the tracking problem. ©2007 IEEE.
Original languageAmerican English
DOIs
StatePublished - 1 Dec 2007
Event2007 Mediterranean Conference on Control and Automation, MED -
Duration: 1 Dec 2007 → …

Conference

Conference2007 Mediterranean Conference on Control and Automation, MED
Period1/12/07 → …

Fingerprint

Mobile robots
Feedback linearization
Telecommunication networks
Time delay
Robots

Cite this

Velasco-Villa, M., Del-Muro-Cuellar, B., & Alvarez-Aguirre, A. (2007). Smith-predictor compensator for a delayed omnidirectional mobile robot. Paper presented at 2007 Mediterranean Conference on Control and Automation, MED, . https://doi.org/10.1109/MED.2007.4433837
Velasco-Villa, M. ; Del-Muro-Cuellar, B. ; Alvarez-Aguirre, A. / Smith-predictor compensator for a delayed omnidirectional mobile robot. Paper presented at 2007 Mediterranean Conference on Control and Automation, MED, .
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Velasco-Villa, M, Del-Muro-Cuellar, B & Alvarez-Aguirre, A 2007, 'Smith-predictor compensator for a delayed omnidirectional mobile robot', Paper presented at 2007 Mediterranean Conference on Control and Automation, MED, 1/12/07. https://doi.org/10.1109/MED.2007.4433837

Smith-predictor compensator for a delayed omnidirectional mobile robot. / Velasco-Villa, M.; Del-Muro-Cuellar, B.; Alvarez-Aguirre, A.

2007. Paper presented at 2007 Mediterranean Conference on Control and Automation, MED, .

Research output: Contribution to conferencePaper

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Velasco-Villa M, Del-Muro-Cuellar B, Alvarez-Aguirre A. Smith-predictor compensator for a delayed omnidirectional mobile robot. 2007. Paper presented at 2007 Mediterranean Conference on Control and Automation, MED, . https://doi.org/10.1109/MED.2007.4433837