Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel–Ground Interactions

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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Bibliographic Details
Main Authors: Katherine Aro, Leonardo Guevara, Miguel Torres-Torriti, Felipe Torres, Alvaro Prado
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Robotics
Subjects:
robust nonlinear model predictive control
active disturbance-rejection control
passivity
skid-steer mobile manipulator
wheel terrain interaction
Online Access:https://www.mdpi.com/2218-6581/13/12/171
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