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Dynamic modeling and controller design of an omniwheel mobile platform by differential parameterization | IEEE Conference Publication | IEEE Xplore

Dynamic modeling and controller design of an omniwheel mobile platform by differential parameterization


Abstract:

In this paper, a new approach for dynamic modeling and the controller design of an omniwheel mobile platform with respect to high dynamic requirements is proposed. Compar...Show More

Abstract:

In this paper, a new approach for dynamic modeling and the controller design of an omniwheel mobile platform with respect to high dynamic requirements is proposed. Compared with the previous articles, the tire model and the electrical machines are taken into account. The entire dynamic model is derived as a semi-explicit form of descriptor systems, which treats the tire forces and the torques of the electrical machines as fictitious inputs. It is possible to parameterize all the state variables, the constraints and inputs with the corresponding structure coordinates and their derivatives analytically. Due to the property of differential parameterization, the design of the decoupling controller can be achieved easily by transforming the overall system in Brunovsky normal form. By introducing additional coupling conditions, the electrical machines can work in optimum condition with respect to energetic aspects to generate the desired torque for driving.
Date of Conference: 29 June 2016 - 01 July 2016
Date Added to IEEE Xplore: 09 January 2017
ISBN Information:
Conference Location: Aalborg, Denmark

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