NDLI: Model predictive traction control for robots on slippery 3D terrains

Content Provider	IEEE Xplore Digital Library
Author	Panathula, C.B. Fahimi, F. Shtessel, Y.
Copyright Year	2012
Description	Author affiliation: Electr. & Comput. Eng. Dept., UA Huntsville, Huntsville, AL, USA (Panathula, C.B.; Shtessel, Y.) \|\| Mech. & Aerosp. Eng. Dept, UA Huntsville, Huntsville, AL, USA (Fahimi, F.)
Abstract	This paper presents the model predictive control of Hilare-type robot on a slippery 3D terrain having known ground conditions, while avoiding wheel slip. The controller is developed based on the dynamic model of the Hilare-type robot on a 3D terrain. So, the terrain's gradient appears in the dynamic model, and is fedback in real-time for more precise trajectory tracking. Nonlinear model predictive control incorporates constraints such as maximum affordable longitudinal and lateral wheels static friction, to avoid slip and control input saturation. The Hilare-type robot is simulated while moving on a slippery hill with known static friction. The simulation exhibits accurate trajectory tracking of the autonomous mobile robot on a slippery 3D terrain having known surface conditions, while eliminating wheel slip.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	4257
Ending Page	4262
File Size	218833
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315090
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Mobile robots Wheels Trajectory Robot kinematics Friction Cost function
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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