Robust Optimal Output-Tracking Control of Constrained Mechanical Systems With Application to Autonomous Rovers

Mottaghi, Mohammadreza; Chhabra, Robin

doi:10.1109/tcst.2022.3171687

Cited by 4 publications

(11 citation statements)

References 34 publications

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“…Remark 3. Based on Proposition 1, f cm is independent of the control distribution τ a ; hence, the sign specifier Ξ f does not change the quadraticity of (34) and accordingly the linearity of (31) with respect to τ a . Remark 4.…”

Section: Longitudinal Traction Optimizationmentioning

confidence: 92%

“…Tractive constraints refer to those corresponding to the zero-velocity conditions at wheel-ground contact points. We assume that non-tractive constraints (e.g., Ackerman constraints) are all holonomic and they have already been integrated [34]. We denote a configuration of the rover by the vector q ∈ R n such that q = [q T 1 q T 2 ] T , where q 1 = [x b , y b , θ] T ∈ R 3 includes the position of the main body coordinate frame expressed in the inertial frame ([x b , y b ] T ) and its rotation (θ), and q 2 ∈ R n−3 includes the wheels' rotation and steering angles.…”

Section: A Rover Modelmentioning

confidence: 99%

“…is square, i.e., b = n − m, and everywhere nonsingular, the system in ( 6) is input-output linearizable with relative degree 2, applying the feedback transformation [34] B…”

Section: Output-tracking Controlmentioning

confidence: 99%

“…Note that the design and performance of the output-tracking controller is not our concern in this paper, and we refer the readers to [34], for further discussions.…”

Section: Output-tracking Controlmentioning

confidence: 99%

“…The stabilizing control law v in ( 11) is selected as a PID law whose gains are shown in Table I. The explicit equation for A can be found in [34,Eq. 75], and the details of the dynamic model and input-output linearization of the rover are presented in [34, Section V].…”

Section: Implementation On a Six-wheel Lunar Rovermentioning

confidence: 99%

See 4 more Smart Citations

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

Mottaghi¹,

Chhabra²,

Huang³

2022

Preprint

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<p>To reliably localize and control wheeled autonomous rovers, their controllers must keep the wheels away from traction loss. In this paper, we develop a fast and practical traction control system for rovers that track dynamic trajectories on rough firm terrains, leveraging their normally existing redundant control directions. Trajectory-tracking performance is guaranteed by input-output linearizing a nonholonomic model of the system and employing an appropriate stabilizing control law. We propose a novel methodology to optimally lift the control signals at the rover’s output level to determine the control actions that enhance the system’s traction without affecting the tracking performance. The methodology uses the knowledge of wheels’ friction coefficients and estimation of normal and tractive forces based on a nonholonomic rover model to optimally distribute the tractive forces among the wheels. The novelty is in redefining the optimization problem in both lateral and longitudinal directions that require minimum information about wheel-ground interactions and leads to linear optimality conditions. We define the notion of total required force/moment at system’s center of mass to (i) introduce reference directions for tractive forces in the proposed cost functions, and (ii) identify the rover wheels fighting against the motion. To prevent wheel-fighting, we find sub-optimal solutions that suppress tractive forces at the fighting wheels. The proposed traction control system is implemented on a six-wheel autonomous Lunar rover and its efficacy is investigated by a developed software-in-the-loop simulation environment using Vortex Studio. This software simulates a 3-dimensional digital twin of the system, with different terrain and tire model options. When compared to the conventional pseudo-inverse solution, the developed traction controller demonstrates improved overall traction and it saves the rover from traction loss.</p>

show abstract

Section: Longitudinal Traction Optimizationmentioning

confidence: 92%

Section: A Rover Modelmentioning

confidence: 99%

“…is square, i.e., b = n − m, and everywhere nonsingular, the system in ( 6) is input-output linearizable with relative degree 2, applying the feedback transformation [34] B…”

Section: Output-tracking Controlmentioning

confidence: 99%

“…Note that the design and performance of the output-tracking controller is not our concern in this paper, and we refer the readers to [34], for further discussions.…”

Section: Output-tracking Controlmentioning

confidence: 99%

Section: Implementation On a Six-wheel Lunar Rovermentioning

confidence: 99%

See 3 more Smart Citations

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

Mottaghi¹,

Chhabra²,

Huang³

2022

Preprint

View full text Add to dashboard Cite

show abstract

Sequential track fusion in multi-sensor networks of unscented Kalman filters: A case of slip estimation in planetary mobile robots

Zarei,

Chhabra,

Mottaghi

2024

Acta Astronautica

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Geometric Modelling and Control of Slow-Fast Realization of Nonholonomic Mechanical Systems

Gzenda¹

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I am grateful to my friends and colleagues in the Autonomous Space Robotics and Mechatronics Laboratory, for welcoming me, and for helping me transition into the field of engineering. I want to thank Samei, Aman, and Sahand for the fun times in the office ...after dark. I want to thank Seth for always being there to chat about math, and Vakhtang for his advice, support, and his inspiration to do mad science. I want to thank Josh, BRNT, the Wizard, and the rest of the Legion for being real good dudes Last but not least, I want to thank my mom, dad, and sister for their love and support ♡ v

show abstract

Robust Optimal Output-Tracking Control of Constrained Mechanical Systems With Application to Autonomous Rovers

Cited by 4 publications

References 34 publications

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

Fast Traction Control of Rovers on Prescribed Dynamic Trajectories with Wheel-Fighting Consideration

Sequential track fusion in multi-sensor networks of unscented Kalman filters: A case of slip estimation in planetary mobile robots

Geometric Modelling and Control of Slow-Fast Realization of Nonholonomic Mechanical Systems

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