Robust tube-based predictive control for mobile robots in off-road conditions - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Robotics and Autonomous Systems Année : 2011

Robust tube-based predictive control for mobile robots in off-road conditions

R. Gonzalez
  • Fonction : Auteur
J.L. Guzman
  • Fonction : Auteur
F. Rodriguez
  • Fonction : Auteur

Résumé

This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to be bounded and additive. The robust tube-based MPC is compared with other motion control techniques through simulation and physical experiments. These tests show the satisfactory behavior of the presented control strategy.

Dates et versions

hal-00968189 , version 1 (31-03-2014)

Identifiants

Citer

R. Gonzalez, Mirko Fiacchini, J.L. Guzman, Teodoro Alamo, F. Rodriguez. Robust tube-based predictive control for mobile robots in off-road conditions. Robotics and Autonomous Systems, 2011, 59 (10), pp.711-726. ⟨10.1016/j.robot.2011.05.006⟩. ⟨hal-00968189⟩
83 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More