Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping
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...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/14/1/122 |