Online stochastic estimation of inertial parameters for skid-steer mobile manipulators in industrial environments

Grant Fondecyt 1171760.


 

Part 1: H controller matrices for the ground disturbance rejection strategy

The following document contains the H controller matrices for the ground disturbance rejection strategy employed in the experiments with the Caterpillar Cat 262C skid-steer loader.

h_inf_controller_matrices_20190630.pdf.

For a slow motion video of the controller in action follow the next link:

Video 1




RAL UC (c) - 2019.06.27