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Results tagged with wheeled-robot
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user 2669
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
1
vote
following a trajectory with LQR controller
It depends on the actual source of problems. If you just have a lot of noise in your state estimate you can improve things a bit by adjusting weights to be less aggressive.
If the problem is that you …
- 2,814
0
votes
Accepted
Error as a State space
FYI, most people (including myself) can't see that paper because we don't have IEEE memberships.
Based on your question, though, the error is often considered the state because that is what you reall …
- 2,814
3
votes
Accepted
State space model
Unfortunately, you're trying to apply a linear controller (the L of LQR) to a nonlinear system. In general, this doesn't work.
As an approximation, you could linearize the system. If the nonlineariti …
- 2,814
1
vote
Cascading PID DC Motor Position & Velocity Controllers
I'm a little confused, are you trying to control each wheel's exact position or the overall position of the robot. For the former, a cascaded structure makes sense where the robot position control loo …
- 2,814
1
vote
Position Control of an Omni Wheel Drive Robot
Generally speaking, you need to define how long you want a full revolution to take. From that, you know what the desired angle is at each timestep and can calculate the desired position.
Note this br …
- 2,814