Trajectory Tracking Control of a Skid-Steer Mobile Robot Based on Nonlinear Model Predictive Control with a Hydraulic Motor Velocity Mapping

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...

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Bibliographic Details
Main Authors: Jian Wang, Zhen Liu, Hongqiang Chen, Yi Zhang, Daqing Zhang, Changfeng Peng
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Applied Sciences
Subjects:
skid-steer mobile robot
hydraulic-driven system
nonlinear model predictive control
nonlinear mapping
trajectory tracking control
Online Access:https://www.mdpi.com/2076-3417/14/1/122

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