Distributed Tube-Based Nonlinear MPC for Motion Control of Skid-Steer Robots With Terra-Mechanical Constraints

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dc.contributor.authorPrado, Alvaro J.
dc.contributor.authorTorres-Torriti, Miguel
dc.contributor.authorCheein, Fernando A.
dc.date.accessioned2025-01-20T22:09:52Z
dc.date.available2025-01-20T22:09:52Z
dc.date.issued2021
dc.description.abstractStrategies to reduce slippage and disturbing wheelterrain interactions are essential to improve navigation and motion control of field robots. Thus, this work proposes an integral control architecture based on a distributed tube-based nonlinear Model Predictive Control scheme to regulate tire dynamics and an adaptive model-based control scheme for trajectory tracking over deformable terrain. For the proposed control architecture, the overall system is decomposed into simpler subsystems to separately represent the four-tire driven motion dynamics (i.e., slip and sideslip) from that of the vehicle's pose and speeds. Since a vehicle and its tires have different dynamic response characteristics, cooperative agents of the distributed control strategy are able to exchange information between subsystems to attain evenly allocated drivetrain torques during slippery situations. The motion controller is made adaptive to terra-mechanical parameters with a NonlinearMoving Horizon Estimation approach working under a parallel Real-Time Iteration scheme. Field experimentations in an industrial compact loader Cat degrees 262 C subject to off-road conditions demonstrated that the proposed approach was capable of reducing up to a minimum of 18.2% of tire slip and sidelip range of +/- 6.6 degrees when compared to its non-robust counterpart. Consequently, the proposed approach was also able to reduce lateral and longitudinal trajectory tracking errors by around 66.6% and 43.7%, respectively, which may have a direct impact on the resources of the machinery.
dc.fuente.origenWOS
dc.identifier.doi10.1109/LRA.2021.3102328
dc.identifier.issn2377-3766
dc.identifier.urihttps://doi.org/10.1109/LRA.2021.3102328
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/94351
dc.identifier.wosidWOS:000688216800005
dc.issue.numero4
dc.language.isoen
dc.pagina.final8052
dc.pagina.inicio8045
dc.revistaIeee robotics and automation letters
dc.rightsacceso restringido
dc.subjectMotion control
dc.subjectdistributed robot systems
dc.subjectrobust control
dc.subjectmining robotics
dc.subjectfield robots
dc.titleDistributed Tube-Based Nonlinear MPC for Motion Control of Skid-Steer Robots With Terra-Mechanical Constraints
dc.typeartículo
dc.volumen6
sipa.indexWOS
sipa.trazabilidadWOS;2025-01-12
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