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: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/1/122 |
| _version_ | 1797359163431452672 |
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| author | Jian Wang Zhen Liu Hongqiang Chen Yi Zhang Daqing Zhang Changfeng Peng |
| author_facet | Jian Wang Zhen Liu Hongqiang Chen Yi Zhang Daqing Zhang Changfeng Peng |
| author_sort | Jian Wang |
| collection | DOAJ |
| description | 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 predictive control (NMPC) method is employed to control the position and heading of the mobile robot. The NMPC controller takes into account the robot’s physical constraints and generates the desired robot motion velocity. Then, to control the hydraulic drive system, a current–velocity mapping-based control method is introduced. By establishing the mapping relationship between the control current applied to the hydraulic motor and its corresponding output velocity, the dynamics of the hydraulic motors are characterized. Consequently, the lower-level controller can directly obtain the control signal for the hydraulic actuator through lookup mappings. Additionally, PID controllers are adopted to compensate for velocity tracking errors. The proposed hierarchical control strategy decouples the robot’s position control and the hydraulic system control, simplifying the overall controller design, leading to improved control performance. To validate the effectiveness of the proposed control strategy, several experiments were conducted on a hydraulic-driven skid-steer mobile robot, and the results demonstrate the effectiveness of the proposed approach. |
| first_indexed | 2024-03-08T15:12:41Z |
| format | Article |
| id | doaj.art-bd60dfc6ac7744e0aafa8b67fb1b738e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-08T15:12:41Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-bd60dfc6ac7744e0aafa8b67fb1b738e2024-01-10T14:51:00ZengMDPI AGApplied Sciences2076-34172023-12-0114112210.3390/app14010122Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity MappingJian Wang0Zhen Liu1Hongqiang Chen2Yi Zhang3Daqing Zhang4Changfeng Peng5School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaSchool of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaSchool of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaSchool of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaCollege of Mechanical and Electrical Engineering, Hunan Agricultural University, Changsha 410128, ChinaSunward Intelligent Equipment Co., Ltd., Changsha 410100, ChinaIn 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 predictive control (NMPC) method is employed to control the position and heading of the mobile robot. The NMPC controller takes into account the robot’s physical constraints and generates the desired robot motion velocity. Then, to control the hydraulic drive system, a current–velocity mapping-based control method is introduced. By establishing the mapping relationship between the control current applied to the hydraulic motor and its corresponding output velocity, the dynamics of the hydraulic motors are characterized. Consequently, the lower-level controller can directly obtain the control signal for the hydraulic actuator through lookup mappings. Additionally, PID controllers are adopted to compensate for velocity tracking errors. The proposed hierarchical control strategy decouples the robot’s position control and the hydraulic system control, simplifying the overall controller design, leading to improved control performance. To validate the effectiveness of the proposed control strategy, several experiments were conducted on a hydraulic-driven skid-steer mobile robot, and the results demonstrate the effectiveness of the proposed approach.https://www.mdpi.com/2076-3417/14/1/122skid-steer mobile robothydraulic-driven systemnonlinear model predictive controlnonlinear mappingtrajectory tracking control |
| spellingShingle | Jian Wang Zhen Liu Hongqiang Chen Yi Zhang Daqing Zhang Changfeng Peng Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping Applied Sciences skid-steer mobile robot hydraulic-driven system nonlinear model predictive control nonlinear mapping trajectory tracking control |
| title | Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping |
| title_full | Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping |
| title_fullStr | Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping |
| title_full_unstemmed | Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping |
| title_short | Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping |
| title_sort | trajectory tracking control of a skid steer mobile robot based on nonlinear model predictive control with a hydraulic motor velocity mapping |
| topic | skid-steer mobile robot hydraulic-driven system nonlinear model predictive control nonlinear mapping trajectory tracking control |
| url | https://www.mdpi.com/2076-3417/14/1/122 |
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