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Originated from Robot World Cup Middle Size League (RoboCup MSL), this paper discusses the design and implementation of a robot soccer simulation system based on ROS and Gazebo. Its aim is to test multi-robot collaboration algorithms. After building the Gazebo models, a model plugin is written to realize the robot's basic motions including omnidirectional locomotion, ball-dribbling and ball-kicking...
A new method of the optimal sliding mode variable structure control is presented to eliminate the extraneous torque in the load simulator. The mathematical model of the load simulator is enlarged by incorporating the torque reference input with integral action. By proper state transformation, the construction of the optimal sliding surface equals to the design of the feedback matrix in the linear...
This study presents an improved model reference adaptive control (MRAC) method for the load simulator. Based on the MRAC method, an adaptive feedforward controller was constructed to eliminate the extraneous torque. By constructing the appropriate form of the feedforward controller and the Lyapunov function, the convergence of the tracking error was proved with Lyapunov stable theorem, and the adaptive...
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