Comments on `Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot'
University of Guelph（圭尔夫大学）
英文摘要：
There are errors in the dynamics model in \cite{b1}. In addition, some details of the derivations and assumptions are missing in the paper. This letter was submitted to the IEEE Transactions on Mechatronics and although reviewers acknowledged the merits of the paper, but was not finally approved to be published and suggested to be submitted as a conference paper. I still think this work is worth disseminating and it is potentially very useful for students or practitioners. In this letter, (i) the assumptions made are presented and the governing dynamics with details are derived, and (ii) the correct equations followed by the correct component of the state-space model ($\boldsymbol{A}$) are given.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
