论文标题
评论“设计和实施模型预测性控制，并在全向移动机器人上进行摩擦补偿”
Comments on `Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot'
论文作者
论文摘要
\ cite {b1}中的动力学模型中存在错误。此外，论文中缺少了一些派生和假设的细节。这封信已提交给IEEE机电一体化交易，尽管审稿人承认该论文的优点，但最终未被批准出版并建议将其作为会议文件提交。我仍然认为这项工作值得传播，这对于学生或从业者来说可能非常有用。在这封信中，（i）提出了提出的假设，并得出了带有详细信息的管理动力学，（ii）正确的方程式遵循状态空间模型的正确组件（$ \ boldsymbol {a} $）。
There are errors in the dynamics model in \cite{b1}. In addition, some details of the derivations and assumptions are missing in the paper. This letter was submitted to the IEEE Transactions on Mechatronics and although reviewers acknowledged the merits of the paper, but was not finally approved to be published and suggested to be submitted as a conference paper. I still think this work is worth disseminating and it is potentially very useful for students or practitioners. In this letter, (i) the assumptions made are presented and the governing dynamics with details are derived, and (ii) the correct equations followed by the correct component of the state-space model ($\boldsymbol{A}$) are given.
