Matches in SemOpenAlex for { <https://semopenalex.org/work/W2897939718> ?p ?o ?g. }
- W2897939718 abstract "In this paper, a linear extended state observer (LESO) based model predictive control with friction compensation is proposed for trajectory tracking control of an omnidirectional mobile robot. First, a dynamic model with unknown friction of the omnidirectional mobile robot is derived. Then a cascade control system is designed, where the external loop is used to generate the velocity references given to the linear model predictive control (LMPC) according to the robot inverse kinematics. The internal loop controller consists of two parts. One part of the control input is designed to compensate the unknown friction estimated by LESO and the other is LMPC which is applied to accomplish the velocity control while satisfying input constraints. Besides, the stability analysis is provided. Finally, simulation results demonstrate the effectiveness of the proposed control system." @default.
- W2897939718 created "2018-10-26" @default.
- W2897939718 creator A5009956939 @default.
- W2897939718 creator A5051012911 @default.
- W2897939718 creator A5052923037 @default.
- W2897939718 creator A5078602454 @default.
- W2897939718 creator A5087686703 @default.
- W2897939718 date "2018-07-01" @default.
- W2897939718 modified "2023-09-27" @default.
- W2897939718 title "ESO Based Model Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation" @default.
- W2897939718 cites W1528851436 @default.
- W2897939718 cites W1971701188 @default.
- W2897939718 cites W1972561051 @default.
- W2897939718 cites W2070553758 @default.
- W2897939718 cites W2073199948 @default.
- W2897939718 cites W2102937854 @default.
- W2897939718 cites W2132411721 @default.
- W2897939718 cites W2135216999 @default.
- W2897939718 cites W2135493101 @default.
- W2897939718 cites W2155103892 @default.
- W2897939718 cites W2335439433 @default.
- W2897939718 cites W3083752641 @default.
- W2897939718 doi "https://doi.org/10.23919/chicc.2018.8484121" @default.
- W2897939718 hasPublicationYear "2018" @default.
- W2897939718 type Work @default.
- W2897939718 sameAs 2897939718 @default.
- W2897939718 citedByCount "2" @default.
- W2897939718 countsByYear W28979397182022 @default.
- W2897939718 countsByYear W28979397182023 @default.
- W2897939718 crossrefType "proceedings-article" @default.
- W2897939718 hasAuthorship W2897939718A5009956939 @default.
- W2897939718 hasAuthorship W2897939718A5051012911 @default.
- W2897939718 hasAuthorship W2897939718A5052923037 @default.
- W2897939718 hasAuthorship W2897939718A5078602454 @default.
- W2897939718 hasAuthorship W2897939718A5087686703 @default.
- W2897939718 hasConcept C11171543 @default.
- W2897939718 hasConcept C112972136 @default.
- W2897939718 hasConcept C119857082 @default.
- W2897939718 hasConcept C121332964 @default.
- W2897939718 hasConcept C127413603 @default.
- W2897939718 hasConcept C1276947 @default.
- W2897939718 hasConcept C133731056 @default.
- W2897939718 hasConcept C13662910 @default.
- W2897939718 hasConcept C154945302 @default.
- W2897939718 hasConcept C15744967 @default.
- W2897939718 hasConcept C172205157 @default.
- W2897939718 hasConcept C19966478 @default.
- W2897939718 hasConcept C203479927 @default.
- W2897939718 hasConcept C21822782 @default.
- W2897939718 hasConcept C24027999 @default.
- W2897939718 hasConcept C2775924081 @default.
- W2897939718 hasConcept C2780023022 @default.
- W2897939718 hasConcept C39920418 @default.
- W2897939718 hasConcept C41008148 @default.
- W2897939718 hasConcept C47446073 @default.
- W2897939718 hasConcept C6557445 @default.
- W2897939718 hasConcept C74650414 @default.
- W2897939718 hasConcept C76155785 @default.
- W2897939718 hasConcept C86803240 @default.
- W2897939718 hasConcept C90509273 @default.
- W2897939718 hasConceptScore W2897939718C11171543 @default.
- W2897939718 hasConceptScore W2897939718C112972136 @default.
- W2897939718 hasConceptScore W2897939718C119857082 @default.
- W2897939718 hasConceptScore W2897939718C121332964 @default.
- W2897939718 hasConceptScore W2897939718C127413603 @default.
- W2897939718 hasConceptScore W2897939718C1276947 @default.
- W2897939718 hasConceptScore W2897939718C133731056 @default.
- W2897939718 hasConceptScore W2897939718C13662910 @default.
- W2897939718 hasConceptScore W2897939718C154945302 @default.
- W2897939718 hasConceptScore W2897939718C15744967 @default.
- W2897939718 hasConceptScore W2897939718C172205157 @default.
- W2897939718 hasConceptScore W2897939718C19966478 @default.
- W2897939718 hasConceptScore W2897939718C203479927 @default.
- W2897939718 hasConceptScore W2897939718C21822782 @default.
- W2897939718 hasConceptScore W2897939718C24027999 @default.
- W2897939718 hasConceptScore W2897939718C2775924081 @default.
- W2897939718 hasConceptScore W2897939718C2780023022 @default.
- W2897939718 hasConceptScore W2897939718C39920418 @default.
- W2897939718 hasConceptScore W2897939718C41008148 @default.
- W2897939718 hasConceptScore W2897939718C47446073 @default.
- W2897939718 hasConceptScore W2897939718C6557445 @default.
- W2897939718 hasConceptScore W2897939718C74650414 @default.
- W2897939718 hasConceptScore W2897939718C76155785 @default.
- W2897939718 hasConceptScore W2897939718C86803240 @default.
- W2897939718 hasConceptScore W2897939718C90509273 @default.
- W2897939718 hasLocation W28979397181 @default.
- W2897939718 hasOpenAccess W2897939718 @default.
- W2897939718 hasPrimaryLocation W28979397181 @default.
- W2897939718 hasRelatedWork W1978900819 @default.
- W2897939718 hasRelatedWork W2093612757 @default.
- W2897939718 hasRelatedWork W2141988813 @default.
- W2897939718 hasRelatedWork W2152858547 @default.
- W2897939718 hasRelatedWork W2507513082 @default.
- W2897939718 hasRelatedWork W2565033043 @default.
- W2897939718 hasRelatedWork W2992787142 @default.
- W2897939718 hasRelatedWork W3102838707 @default.
- W2897939718 hasRelatedWork W4378976589 @default.
- W2897939718 hasRelatedWork W2115792513 @default.
- W2897939718 isParatext "false" @default.
- W2897939718 isRetracted "false" @default.