Abstract
This paper describes the multi-level control of a three-wheel omnidirectional vehicle. The vehicle was developed to be an autonomous robotic soccer player with respect to the Robocup F180 small-size league rules. The two inner control levels are model nonlinear reference controllers (MNRC) while the last level of control relies on a modified Smith Predictor. The paper covers the modeling of the vehicle, the parameter identification using an output-error approach, and the design and implementation of the controllers. Some results illustrate the good performances.
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