Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping
Source abstract
Abstract
In this study, we address the trajectory tracking control problem of a hydraulic-driven skid-steer mobile robot. A hierarchical control strategy is proposed to simultaneously consider the robot’s position control and the velocity control of the hydraulic motors. At the upper level, a nonlinear model predictive control (NMPC) method is employed to control the position and heading of the mobile robot. The NMPC controller takes into account the robot’s physical constraints and generates the desired robot motion velocity. Then, to control the hydraulic drive system, a current–velocity mapping-based control method is introduced. By establishing the mapping relationship between the control current applied to the hydraulic motor and its corresponding output velocity, the dynamics of the hydraulic motors are characterized. Consequently, the lower-level controller can directly obtain the control signal for the hydraulic actuator through lookup mappings. Additionally, PID controllers are adopted to compensate for velocity tracking errors. The proposed hierarchical control strategy decouples the robot’s position control and the hydraulic system control, simplifying the overall controller design, leading to improved control performance. To validate the effectiveness of the proposed control strategy, several experiments were conducted on a hydraulic-driven skid-steer mobile robot, and the results demonstrate the effectiveness of the proposed approach.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Hydraulic and Pneumatic Systems · Control and Dynamics of Mobile Robots · Robotic Locomotion and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China
State Key Laboratory of Precision Manufacturing for Extreme Service Performance, Changsha 410083, China
College of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, China
Sunward Intelligent Equipment Co., Ltd., Changsha 410100, China
References (29)
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