Julio A. Báez-Hernández | CINVESTAV-IPN |
Sabine Mondie | CINVESTAV-IPN |
Martín Velasco-Villa | CINVESTAV-IPN |
https://doi.org/10.58571/CNCA.AMCA.2023.100
Resumen: This work focuses on the trajectory tracking problem of an input-delayed omnidirectional mobile robot affected by a constant disturbance in the time delay. The trajectory-tracking solution is based on a prediction strategy that represents a generalization of the well-known sub-prediction strategy developed for the linear case. It is formally proven that the prediction scheme provides the future state of the system and that a feedback law based on the future predicted state solves the trajectory tracking problem under some assumptions related to the size of the disturbance and the number of sub-predictors considered. To evaluate the prediction-based strategy, numerical simulations are carried out showing an adequate performance of the overall closed-loop system.
![Non-Linear Prediction Scheme for an Omnidirectional Mobile Robot with Disturbed Time Delay](/wp-content/uploads/2022/04/logotipo_amca100.png)
¿Cómo citar?
Báez-Hernández, Julio Alejandro; Mondie, Sabine; Velasco-Villa, Martin. Non-Linear Prediction Scheme for an Omnidirectional Mobile Robot with Disturbed Time Delay. Memorias del Congreso Nacional de Control Automático, pp. 562-567, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.100
Palabras clave
Control de Sistemas No Lineales; Robótica y Mecatrónica; Otros Tópicos Afines
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