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• W2981373283 abstract "This paper presents the design and analysis of different controller schemes for a three wheeled omnidirectional robot, that is, a robot which can be driven by the control of three independent velocity variables: over ( x ) and ( y ) linear directions and a rotational direction to perform complex motions. Conventional Proportional, Proportional-Integral, Fuzzy and Fuzzy PI controllers are designed based on the kinematic behavior of the holonomic mobile omnidirectional robot. Velocities of the Robot are estimated by using an odometer module. Also, the implementation performed in Simulink tool of Matlab of the different schemes is presented. The control objective for these designs is to drive the two linear command velocities of the robot and to do it goes from an initial position to a final position without obstacles. Finally, a comparative analysis of the studied controllers in time and distance is performed for determining the performance using a Robotino simulation tool of Festo, which provides an uncertainty environment for the robot control." @default.
• W2981373283 created "2019-11-01" @default.
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• W2981373283 date "2019-01-01" @default.
• W2981373283 modified "2023-10-07" @default.
• W2981373283 title "Comparative Study of P, PI, Fuzzy and Fuzzy PI Controllers in Position Control for Omnidirectional Robots" @default.
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• W2981373283 doi "https://doi.org/10.1007/978-3-030-33749-0_57" @default.
• W2981373283 hasPublicationYear "2019" @default.
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