Comments on `Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot'
This is an incremental correction to a specific robotics model, primarily useful for educational or practical applications in mechatronics.
The paper identifies errors in a prior dynamics model for an omnidirectional mobile robot and provides corrected derivations and assumptions, aiming to disseminate useful corrections for students or practitioners.
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.