Title :
Smith-predictor compensator for a delayed omnidirectional mobile robot
Author :
Velasco-Villa, M. ; del-Muro-Cuellar, B. ; Alvarez-Aguirre, A.
Author_Institution :
CINVESTAV-IPN, Mexico City
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.
Keywords :
compensation; continuous time systems; delay systems; delays; discrete time systems; feedback; linearisation techniques; mobile robots; nonlinear control systems; predictive control; robot kinematics; Smith-predictor compensator; communication network time delay; continuous time model discretization; delayed omnidirectional mobile robot; discrete time control; feedback linearization; nonlinear control; path-tracking problem; robot kinematics; transport delay; Communication networks; Communication system control; Control systems; Delay effects; Kinematics; Linear feedback control systems; Mobile robots; Robot control; Sampling methods; Sliding mode control;
Conference_Titel :
Control & Automation, 2007. MED '07. Mediterranean Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-1281-5
Electronic_ISBN :
978-1-4244-1282-2
DOI :
10.1109/MED.2007.4433837
