Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot

摘要

This 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.