TY - GEN
T1 - Smith-predictor compensator for a delayed omnidirectional mobile robot
AU - Velasco-Villa, M.
AU - Del-Muro-Cuellar, B.
AU - Alvarez-Aguirre, A.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=50249167734&partnerID=8YFLogxK
U2 - 10.1109/MED.2007.4433837
DO - 10.1109/MED.2007.4433837
M3 - Contribución a la conferencia
AN - SCOPUS:50249167734
SN - 142441282X
SN - 9781424412822
T3 - 2007 Mediterranean Conference on Control and Automation, MED
BT - 2007 Mediterranean Conference on Control and Automation, MED
T2 - 2007 Mediterranean Conference on Control and Automation, MED
Y2 - 27 July 2007 through 29 July 2007
ER -