2009 International Conference on Information Technology and Computer Science 2009
DOI: 10.1109/itcs.2009.152 View full text |Buy / Rent full text
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“…The controller gains presented in Table 3 were tuned empirically as in [8], [17], where it is indicated that each constant K v must be a 10% of the corresponding constant K p , in order to avoid abrupt and/or large changes of the control signal. The value of each constant K p is determined empirically according to the inertia coupled to each actuator.…”
Section: A Empirical Tuningmentioning
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“…The controller gains presented in Table 3 were tuned empirically as in [8], [17], where it is indicated that each constant K v must be a 10% of the corresponding constant K p , in order to avoid abrupt and/or large changes of the control signal. The value of each constant K p is determined empirically according to the inertia coupled to each actuator.…”
Section: A Empirical Tuningmentioning
“…In [7], the authors propose a general framework for the control of a MM, but a decoupled modeling is used for approaching in a unified way the different types of omnidirectional mobile platforms under non-holonomic constraints. In [8], a robust control with torque compensation is proposed for a MM, using a coupled dynamic model which is modeled as an uncertainty. In [9], a Proportional-Derivative (PD) controller is presented for the problem of stabilizing a MM.…”
Section: Introductionmentioning
“…El estudio de los robots manipuladores móviles (RMM) se ha vuelto de interés recientemente y ha captado la atención de los investigadores debido a las posibilidades en el ramo industrial (Zhou et al, 2022), en temas de seguridad (Saitoh et al, 1995), de servicios (Chi-wu and Ke-fei, 2009), en sistemas cooperativos (Sugar and Kumar, 1999) o incluso en algo tan cotidiano como abrir una puerta (Nagatani and Yuta, 1995).…”
Section: Introductionunclassified
“…Se han estudiado diversas técnicas de control para el seguimiento de trayectoria en este tipo de robots. Hay trabajos en los que se añade una compensación robusta tomando como base un controlador PD clásico (Chi-wu and Ke-fei, 2009), enfoques más sofisticados en donde se diseña un sistema de seguimiento adaptable basado en redes neuronales (Wang et al, 2014) o leyes de control basados en un esquema ADRC (Ningyue et al, 2015).…”
Section: Introductionunclassified
“…Omreen et al (2003) used the Lagrangian dynamics to express the dynamic model of the complete system. A torque compensation control approach is proposed for the robust motion control of the robot by Chi-wu and Ke-fei (2009). They considered the coupling disturbance between the platform and the manipulator trajectory tracking curve of mobile platform.…”
Section: Introductionmentioning