FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3030584295> ?p ?o ?g. }

• W3030584295 endingPage "104451" @default.
• W3030584295 startingPage "104451" @default.
• W3030584295 abstract "This work addresses the problem of robust tracking control for skid-steer mobile platforms, using tube-based Nonlinear Model Predictive Control. The strategy seeks to mitigate the impact of disturbances propagated to autonomous vehicles originated by traction losses. To this end, a dynamical model composed by two coupled sub-systems stands for lateral and longitudinal vehicle dynamics and tire behavior. The controller is aimed at tracking prescribed stable operation points of the slip and side-slip beyond the robot pose and speeds. To reach robust tracking performance on the global system, a centralized control scheme operates under a predictive control framework composed by three control actions. The first one compensates for disturbances using the reference trajectory-feedforward control. The second control action corrects the errors generated by the modeling mismatch. The third one is devoted to ensure robustness on the closed-loop system whilst compensating for deviations of the state trajectories from the nominal ones (i.e. disturbance-free). The strategy ensures robust feasibility even when tightening constraints are met. Such constraints are calculated on-line based on robust positively invariant sets characterized by polytopic sets (tubes), including a terminal region to guarantee robustness. The benefits of the controller regarding tracking performance, constraint satisfaction and computational practicability were tested through simulations with a Cat® 262C skid-steer model. Then, in field tests, the controller evidenced high tracking accuracy against terrain disturbances when benchmarking performance with respect to inherent robust predictive controllers." @default.
• W3030584295 created "2020-06-05" @default.
• W3030584295 creator A5025698540 @default.
• W3030584295 creator A5040794917 @default.
• W3030584295 creator A5061931953 @default.
• W3030584295 creator A5089358089 @default.
• W3030584295 date "2020-08-01" @default.
• W3030584295 modified "2023-10-18" @default.
• W3030584295 title "Tube-based nonlinear model predictive control for autonomous skid-steer mobile robots with tire–terrain interactions" @default.
• W3030584295 cites W1979317847 @default.
• W3030584295 cites W1983526786 @default.
• W3030584295 cites W2003032253 @default.
• W3030584295 cites W2004922694 @default.
• W3030584295 cites W2014549826 @default.
• W3030584295 cites W2028936060 @default.
• W3030584295 cites W2036296814 @default.
• W3030584295 cites W2044494131 @default.
• W3030584295 cites W2061531727 @default.
• W3030584295 cites W2066425650 @default.
• W3030584295 cites W2095233962 @default.
• W3030584295 cites W2112930335 @default.
• W3030584295 cites W2120821299 @default.
• W3030584295 cites W2148219398 @default.
• W3030584295 cites W2150506037 @default.
• W3030584295 cites W2280204724 @default.
• W3030584295 cites W2291087457 @default.
• W3030584295 cites W2327176197 @default.
• W3030584295 cites W2612346904 @default.
• W3030584295 cites W2756328215 @default.
• W3030584295 cites W2763880511 @default.
• W3030584295 cites W2778649024 @default.
• W3030584295 cites W2790328601 @default.
• W3030584295 cites W2792751328 @default.
• W3030584295 cites W2800743216 @default.
• W3030584295 cites W2863749457 @default.
• W3030584295 cites W2895639295 @default.
• W3030584295 cites W2903113630 @default.
• W3030584295 cites W2913455553 @default.
• W3030584295 cites W2946462894 @default.
• W3030584295 cites W644423721 @default.
• W3030584295 doi "https://doi.org/10.1016/j.conengprac.2020.104451" @default.
• W3030584295 hasPublicationYear "2020" @default.
• W3030584295 type Work @default.
• W3030584295 sameAs 3030584295 @default.
• W3030584295 citedByCount "22" @default.
• W3030584295 countsByYear W30305842952021 @default.
• W3030584295 countsByYear W30305842952022 @default.
• W3030584295 countsByYear W30305842952023 @default.
• W3030584295 crossrefType "journal-article" @default.
• W3030584295 hasAuthorship W3030584295A5025698540 @default.
• W3030584295 hasAuthorship W3030584295A5040794917 @default.
• W3030584295 hasAuthorship W3030584295A5061931953 @default.
• W3030584295 hasAuthorship W3030584295A5089358089 @default.
• W3030584295 hasConcept C104317684 @default.
• W3030584295 hasConcept C121332964 @default.
• W3030584295 hasConcept C127413603 @default.
• W3030584295 hasConcept C133731056 @default.
• W3030584295 hasConcept C154945302 @default.
• W3030584295 hasConcept C158622935 @default.
• W3030584295 hasConcept C161840515 @default.
• W3030584295 hasConcept C172205157 @default.
• W3030584295 hasConcept C185592680 @default.
• W3030584295 hasConcept C18903297 @default.
• W3030584295 hasConcept C19966478 @default.
• W3030584295 hasConcept C2775924081 @default.
• W3030584295 hasConcept C38858127 @default.
• W3030584295 hasConcept C41008148 @default.
• W3030584295 hasConcept C47446073 @default.
• W3030584295 hasConcept C55493867 @default.
• W3030584295 hasConcept C62520636 @default.
• W3030584295 hasConcept C63479239 @default.
• W3030584295 hasConcept C86803240 @default.
• W3030584295 hasConcept C90509273 @default.
• W3030584295 hasConceptScore W3030584295C104317684 @default.
• W3030584295 hasConceptScore W3030584295C121332964 @default.
• W3030584295 hasConceptScore W3030584295C127413603 @default.
• W3030584295 hasConceptScore W3030584295C133731056 @default.
• W3030584295 hasConceptScore W3030584295C154945302 @default.
• W3030584295 hasConceptScore W3030584295C158622935 @default.
• W3030584295 hasConceptScore W3030584295C161840515 @default.
• W3030584295 hasConceptScore W3030584295C172205157 @default.
• W3030584295 hasConceptScore W3030584295C185592680 @default.
• W3030584295 hasConceptScore W3030584295C18903297 @default.
• W3030584295 hasConceptScore W3030584295C19966478 @default.
• W3030584295 hasConceptScore W3030584295C2775924081 @default.
• W3030584295 hasConceptScore W3030584295C38858127 @default.
• W3030584295 hasConceptScore W3030584295C41008148 @default.
• W3030584295 hasConceptScore W3030584295C47446073 @default.
• W3030584295 hasConceptScore W3030584295C55493867 @default.
• W3030584295 hasConceptScore W3030584295C62520636 @default.
• W3030584295 hasConceptScore W3030584295C63479239 @default.
• W3030584295 hasConceptScore W3030584295C86803240 @default.
• W3030584295 hasConceptScore W3030584295C90509273 @default.
• W3030584295 hasLocation W30305842951 @default.
• W3030584295 hasOpenAccess W3030584295 @default.
• W3030584295 hasPrimaryLocation W30305842951 @default.
• W3030584295 hasRelatedWork W1968704373 @default.
• W3030584295 hasRelatedWork W2028673160 @default.

• next