INVESTIGADORES
MAS Ignacio Agustin
congresos y reuniones científicas
Título:
Super Twisting-Based Tracking Control for Three-Wheeled Omnidirectional Mobile Robots
Autor/es:
MAURO BAQUERO-SUAREZ; IGNACIO MAS; JUAN I. GIRIBET
Lugar:
Bariloche
Reunión:
Congreso; Jornadas Argentinas de Robotica 2022; 2022
Institución organizadora:
CNEA - Balseiro
Resumen:
This work presents a robust control strategy that allowsan adequate tracking of position and orientation reference trajectoriesfor omnidirectional three-wheeled mobile robots. The outlined controlscheme is based on the design of a Higher-Order Sliding ModeObserver (HOSMO) to estimate disturbances, model uncertainties,and unmodelled dynamics of the robot, assumed grouped into astate variable that is then feedback by the control law to cancel it.Super Twisting (ST) and classical Generalized Proportional Integral(GPI) control laws are used here with the designed observer, andperformance of both is compared through simulations with a virtualmulti-body dynamic model, integrating ADAMS and MATLAB.
