Low level control of an omnidirectional mobile robot

Author

Comasolivas, R. ; Quevedo, J. ; Escobet, T. ; Escobet, A. ; Romera, J.

Author_Institution

Res. Center for Supervision, Tech. Univ. of Catalonia (UPC), Terrassa, Spain

fYear

2015

fDate

16-19 June 2015

Firstpage

1160

Lastpage

1166

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.

Keywords

closed loop systems; control system synthesis; estimation theory; feedback; least squares approximations; linear systems; mobile robots; robust control; three-term control; uncertain systems; velocity control; PID speed controller design; QFT; closed loop system; four-wheeled robot; holonomic robot; least square estimation approach; low level control; omnidirectional mobile robot; omnidirectional wheels; piecewise model; quantitative feedback theory; robust control technique; uncertain linear model; Automation; Holonomic Mobile Robot; PID Control; Quantitative Feedback Theory; Robust Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2015 23th Mediterranean Conference on

Conference_Location

Torremolinos

Type

conf

DOI

10.1109/MED.2015.7158912

Filename

7158912