Model predictive path-following controller for Generalised N-Trailer vehicles with noisy sensors and disturbances

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dc.contributor.authorDeniz, Nestor
dc.contributor.authorJorquera, Franco
dc.contributor.authorTorres-Torriti, Miguel
dc.contributor.authorCheein, Fernando Auat
dc.date.accessioned2025-01-20T17:11:20Z
dc.date.available2025-01-20T17:11:20Z
dc.date.issued2024
dc.description.abstractGeneralised N-Trailer (GNT) vehicles, commonly used in agriculture, mining, and industry, consist of a tractor pulling multiple passive trailers. This paper presents a nonlinear moving horizon estimator (NMHE) and nonlinear model predictive controller (NMPC) for GNT robotic vehicles. The NMHE accurately estimates the vehicle's state under challenging conditions such as noisy measurements, disturbances, and different soil conditions, without relying on assumptions about disturbances, making it more effective than techniques like the Extended Kalman Filter (EKF). Similarly, the NMPC successfully steers the GNT along a predefined path with lower control effort compared to existing algorithms, thanks to smoother tractor manoeuvres that minimise energy in the objective function. Moreover, unlike other methods, this approach computes the tractors' velocities instead of those of the last trailer, eliminating the need for kinematic inversion and making it suitable for various vehicle configurations. Efficient solvers for the NMHE and NMPC problems were generated using two different open-source frameworks. The proposed framework was evaluated through challenging simulated studies and field experiments. Additional resources, including code implementation and field experiment videos, can be found at https://drive.google.com/drive/folders/1n-qVWJA40cZn-WiDpwXhhF9AdK54LTfX?usp=sharing.
dc.description.funderAC3E
dc.fuente.origenWOS
dc.identifier.doi10.1016/j.conengprac.2023.105747
dc.identifier.eissn1873-6939
dc.identifier.issn0967-0661
dc.identifier.urihttps://doi.org/10.1016/j.conengprac.2023.105747
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/91176
dc.identifier.wosidWOS:001097413500001
dc.language.isoen
dc.revistaControl engineering practice
dc.rightsacceso restringido
dc.subjectN-Trailers vehicles
dc.subjectRobotic vehicles
dc.subjectMoving horizon estimator
dc.subjectModel predictive controller
dc.subjectEfficient motion controller
dc.subject.ods02 Zero Hunger
dc.subject.odspa02 Hambre cero
dc.titleModel predictive path-following controller for Generalised N-Trailer vehicles with noisy sensors and disturbances
dc.typeartículo
dc.volumen142
sipa.indexWOS
sipa.trazabilidadWOS;2025-01-12
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