Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions
This paper presents a robust control strategy for trajectory-tracking control of Skid-Steer Mobile Manipulators (SSMMs) using a Robust Nonlinear Model Predictive Control (R-NMPC) approach that minimises trajectory-tracking errors while overcoming model uncertainties and terra-mechanical disturbances...
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MDPI AG
2024-12-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/13/12/171 |
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| author | Katherine Aro Leonardo Guevara Miguel Torres-Torriti Felipe Torres Alvaro Prado |
| author_facet | Katherine Aro Leonardo Guevara Miguel Torres-Torriti Felipe Torres Alvaro Prado |
| author_sort | Katherine Aro |
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| description | This paper presents a robust control strategy for trajectory-tracking control of Skid-Steer Mobile Manipulators (SSMMs) using a Robust Nonlinear Model Predictive Control (R-NMPC) approach that minimises trajectory-tracking errors while overcoming model uncertainties and terra-mechanical disturbances. The proposed strategy is aimed at counteracting the effects of disturbances caused by the slip phenomena through the wheel–terrain contact and bidirectional interactions propagated by mechanical coupling between the SSMM base and arm. These interactions are modelled using a coupled nonlinear dynamic framework that integrates bounded uncertainties for the mobile base and arm joints. The model is developed based on principles of full-body energy balance and link torques. Then, a centralized control architecture integrates a nominal NMPC (disturbance-free) and ancillary controller based on Active Disturbance-Rejection Control (ADRC) to strengthen control robustness, operating the full system dynamics as a single robotic body. While the NMPC strategy is responsible for the trajectory-tracking control task, the ADRC leverages an Extended State Observer (ESO) to quantify the impact of external disturbances. Then, the ADRC is devoted to compensating for external disturbances and uncertainties stemming from the model mismatch between the nominal representation and the actual system response. Simulation and field experiments conducted on an assembled Pioneer 3P-AT base and Katana 6M180 robotic arm under terrain constraints demonstrate the effectiveness of the proposed method. Compared to non-robust controllers, the R-NMPC approach significantly reduced trajectory-tracking errors by 79.5% for mobile bases and 42.3% for robot arms. These results highlight the potential to enhance robust performance and resource efficiency in complex navigation conditions. |
| format | Article |
| id | doaj-art-b3b3dbd5f30c4830a2fee71b1dd5dcb0 |
| institution | OA Journals |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
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| series | Robotics |
| spelling | doaj-art-b3b3dbd5f30c4830a2fee71b1dd5dcb02025-08-20T02:01:09ZengMDPI AGRobotics2218-65812024-12-01131217110.3390/robotics13120171Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground InteractionsKatherine Aro0Leonardo Guevara1Miguel Torres-Torriti2Felipe Torres3Alvaro Prado4Departamento de Ingeniería de Sistemas y Computación, Universidad Católica del Norte, Antofagasta 1249004, ChileLincoln Center for Autonomous Systems, Lincoln Institute for Agri-Food Technology, Lincoln LN6 7TS, UKDepartment of Electrical Engineering, Pontificia Universidad Católica de Chile, Santiago 7820436, ChileDepartamento de Computación e Industrias, Universidad Católica del Maule, Talca 3480112, ChileDepartamento de Ingeniería de Sistemas y Computación, Universidad Católica del Norte, Antofagasta 1249004, ChileThis paper presents a robust control strategy for trajectory-tracking control of Skid-Steer Mobile Manipulators (SSMMs) using a Robust Nonlinear Model Predictive Control (R-NMPC) approach that minimises trajectory-tracking errors while overcoming model uncertainties and terra-mechanical disturbances. The proposed strategy is aimed at counteracting the effects of disturbances caused by the slip phenomena through the wheel–terrain contact and bidirectional interactions propagated by mechanical coupling between the SSMM base and arm. These interactions are modelled using a coupled nonlinear dynamic framework that integrates bounded uncertainties for the mobile base and arm joints. The model is developed based on principles of full-body energy balance and link torques. Then, a centralized control architecture integrates a nominal NMPC (disturbance-free) and ancillary controller based on Active Disturbance-Rejection Control (ADRC) to strengthen control robustness, operating the full system dynamics as a single robotic body. While the NMPC strategy is responsible for the trajectory-tracking control task, the ADRC leverages an Extended State Observer (ESO) to quantify the impact of external disturbances. Then, the ADRC is devoted to compensating for external disturbances and uncertainties stemming from the model mismatch between the nominal representation and the actual system response. Simulation and field experiments conducted on an assembled Pioneer 3P-AT base and Katana 6M180 robotic arm under terrain constraints demonstrate the effectiveness of the proposed method. Compared to non-robust controllers, the R-NMPC approach significantly reduced trajectory-tracking errors by 79.5% for mobile bases and 42.3% for robot arms. These results highlight the potential to enhance robust performance and resource efficiency in complex navigation conditions.https://www.mdpi.com/2218-6581/13/12/171robust nonlinear model predictive controlactive disturbance-rejection controlpassivityskid-steer mobile manipulatorwheel terrain interaction |
| spellingShingle | Katherine Aro Leonardo Guevara Miguel Torres-Torriti Felipe Torres Alvaro Prado Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions Robotics robust nonlinear model predictive control active disturbance-rejection control passivity skid-steer mobile manipulator wheel terrain interaction |
| title | Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions |
| title_full | Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions |
| title_fullStr | Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions |
| title_full_unstemmed | Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions |
| title_short | Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions |
| title_sort | robust nonlinear model predictive control for the trajectory tracking of skid steer mobile manipulators with wheel ground interactions |
| topic | robust nonlinear model predictive control active disturbance-rejection control passivity skid-steer mobile manipulator wheel terrain interaction |
| url | https://www.mdpi.com/2218-6581/13/12/171 |
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