Model predictive traction control for robots on slippery 3D terrains
Model predictive traction control for robots on slippery 3D terrains
复制标题
光滑 3D 地形上机器人的模型预测牵引力控制
DOI：
10.1109/acc.2012.6315090
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Y. Shtessel
中科院分区：
文献类型：
--
作者：
C. B. Panathula;F. Fahimi;Y. Shtessel
本文介绍了 Hilare 型机器人在已知地面条件的湿滑 3D 地形上的模型预测控制，同时避免车轮打滑。该控制器是基于Hilare型机器人在3D地形上的动态模型开发的。因此，地形的梯度出现在动态模型中，并实时反馈以实现更精确的轨迹跟踪。非线性模型预测控制结合了诸如最大可承受的纵向和横向车轮静摩擦力等约束，以避免打滑并控制输入饱和。模拟 Hilare 型机器人在已知静摩擦力的湿滑山坡上移动。该仿真展示了自主移动机器人在具有已知表面条件的湿滑 3D 地形上的精确轨迹跟踪，同时消除了车轮打滑。
This paper presents the model predictive control of Hilare-type robot on a slippery 3D terrain having known ground conditions, while avoiding wheel slip. The controller is developed based on the dynamic model of the Hilare-type robot on a 3D terrain. So, the terrain's gradient appears in the dynamic model, and is fedback in real-time for more precise trajectory tracking. Nonlinear model predictive control incorporates constraints such as maximum affordable longitudinal and lateral wheels static friction, to avoid slip and control input saturation. The Hilare-type robot is simulated while moving on a slippery hill with known static friction. The simulation exhibits accurate trajectory tracking of the autonomous mobile robot on a slippery 3D terrain having known surface conditions, while eliminating wheel slip.