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Use este identificador para citar ou linkar para este item: https://repositorio.ufba.br/handle/ri/14223
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dc.contributor.authorConceicao, André Gustavo Scolari-
dc.contributor.authorMartinez, Luciana-
dc.contributor.authorBarreto Sobrinho, Julio César Lins-
dc.contributor.authorDorea, Carlos Eduardo Trabuco-
dc.contributor.authorPieri, Edson Roberto de-
dc.creatorConceicao, André Gustavo Scolari-
dc.creatorMartinez, Luciana-
dc.creatorBarreto Sobrinho, Julio César Lins-
dc.creatorDorea, Carlos Eduardo Trabuco-
dc.creatorPieri, Edson Roberto de-
dc.date.accessioned2013-12-18T11:48:28Z-
dc.date.issued2013-
dc.identifier.citationBarreto S., J. C. L.; Conceicao, A. G. S.; Dorea, C. E. T.; Martinez, L.; de Pieri, E. R., "Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot," Mechatronics, IEEE/ASME Transactions on , vol.PP, no.99, pp.1,10, 0 doi: 10.1109/TMECH.2013.2243161pt_BR
dc.identifier.issn1083-4435-
dc.identifier.urihttp://repositorio.ufba.br/ri/handle/ri/14223-
dc.description.abstractThis paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.pt_BR
dc.language.isoenpt_BR
dc.publisherIEEEpt_BR
dc.rightsAcesso Abertopt_BR
dc.source10.1109/TMECH.2013.2243161pt_BR
dc.subjectFrictionpt_BR
dc.subjectmobile robotspt_BR
dc.subjectmodelingpt_BR
dc.subjectpredictive controlpt_BR
dc.titleDesign and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robotpt_BR
dc.typeArtigo de Periódicopt_BR
dc.description.localpubIEEE/ASME Transactions on Mechatronicspt_BR
dc.identifier.numberPP,99pt_BR
dc.embargo.liftdate10000-01-01-
Aparece nas coleções:Artigo Publicado em Periódico (PPEE)

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