Nonlinear multivariable control of an omnidirectional vehicle
Abstract
This paper describes the multi-level control of a three-wheel omnidirectional vehicle. The vehicle was developed to be an autonomous robotic soccer player with respect to the Robocup F180 small-size league rules. The two inner control levels are model nonlinear reference controller (MNRC) while the last level of control relies on decentralized lead-lag controllers. The paper covers the modeling of the vehicle, the parameter identification using an output-error approach, and the design and implementation of the controllers. Some results illustrate the good performances.
