Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks

摘要

This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of situations where the dynamic system under control is affected by uncertainties and disturbances, and the controller should compensate for such phenomena in order to provide stable performance. A multiple-shooting nonlinear model-predictive control framework is proposed in this paper. This framework benefits from suitable algorithm along with readings from various sensors for genuine real-time performance with extremely high accuracy. The controller is then tested for tracking different trajectories where it demonstrates highly desirable performance in terms of both speed and accuracy. This controller shows remarkable improvement when compared to existing nonlinear model-predictive controllers in the literature that were implemented on skid-steered mobile platforms.