Tube-based nonlinear model predictive control for autonomous skid-steer mobile robots with tire-terrain interactions

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dc.contributor.authorJavier Prado, Alvaro
dc.contributor.authorTorres-Torriti, Miguel
dc.contributor.authorYuz, Juan
dc.contributor.authorAuat Cheein, Fernando
dc.date.accessioned2025-01-23T19:49:24Z
dc.date.available2025-01-23T19:49:24Z
dc.date.issued2020
dc.description.abstractThis work addresses the problem of robust tracking control for skid-steer mobile platforms, using tube-based Nonlinear Model Predictive Control. The strategy seeks to mitigate the impact of disturbances propagated to autonomous vehicles originated by traction losses. To this end, a dynamical model composed by two coupled sub-systems stands for lateral and longitudinal vehicle dynamics and fire behavior. The controller is aimed at tracking prescribed stable operation points of the slip and side-slip beyond the robot pose and speeds. To reach robust tracking performance on the global system, a centralized control scheme operates under a predictive control framework composed by three control actions. The first one compensates for disturbances using the reference trajectory-feedforward control. The second control action corrects the errors generated by the modeling mismatch. The third one is devoted to ensure robustness on the closed-loop system whilst compensating for deviations of the state trajectories from the nominal ones (i.e. disturbance-free). The strategy ensures robust feasibility even when tightening constraints are met. Such constraints are calculated on-line based on robust positively invariant sets characterized by polytopic sets (tubes), including a terminal region to guarantee robustness. The benefits of the controller regarding tracking performance, constraint satisfaction and computational practicability were tested through simulations with a Cat (R) 262C skid-steer model. Then, in field tests, the controller evidenced high tracking accuracy against terrain disturbances when benchmarking performance with respect to inherent robust predictive controllers.
dc.fuente.origenWOS
dc.identifier.doi10.1016/j.conengprac.2020.104451
dc.identifier.eissn1873-6939
dc.identifier.issn0967-0661
dc.identifier.urihttps://doi.org/10.1016/j.conengprac.2020.104451
dc.identifier.urihttps://repositorio.uc.cl/handle/11534/100501
dc.identifier.wosidWOS:000555039300003
dc.language.isoen
dc.revistaControl engineering practice
dc.rightsacceso restringido
dc.subjectAutonomous industrial machinery
dc.subjectRobust predictive control
dc.subjectTrajectory tracking
dc.subjectTire slip dynamics
dc.subjecttire-terrain interaction
dc.subject.ods11 Sustainable Cities and Communities
dc.subject.odspa11 Ciudades y comunidades sostenibles
dc.titleTube-based nonlinear model predictive control for autonomous skid-steer mobile robots with tire-terrain interactions
dc.typeartículo
dc.volumen101
sipa.indexWOS
sipa.trazabilidadWOS;2025-01-12
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