Abstract
This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.

Abstract
This paper presents the experimental dynamic parameters identification of an omni-directional mobile robot with four wheels. Three methods of parameters identification related to dynamic equations are described, the parameters are the viscous frictions, the coulomb frictions and the inertia moment of the robot. A simulation environment, simulation results and real results are presented.

Abstract

Abstract

Abstract

Abstract
This paper deals with the discretization of integrals and derivatives (i.e., differintegrals) of complex order. Several methods for the discretization of the operator s?, where ? = u+jv is a complex value, are proposed. The concept of conjugated-order differintegral is also presented. The conjugated-order operator allows the use of complex-order differintegrals while still resulting in real time responses and real transfer functions. The performance of the resulting approximations is evaluated both in the time and frequency domains. Copyright © 2006 IFAC.