Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints

Zhihui Li; Sihang Li; Jinhui Zhang

doi:10.23919/CCC55666.2022.9901516

Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints

Zhihui Li, Sihang Li, Jinhui Zhang

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The trajectory tracking problem of 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances and motion constraints is considered in this paper. A hierarchical control scheme is proposed to solve these problems. The motion constraints are considered in the kinematic layer with the model predictive control (MPC) approach, and the disturbances are estimated and compensated in the dynamics layer by a time-varying gain extended state observer (ESO). In addition, the control allocation is considered to allocate the virtual control inputs obtained by the upper layer controller to make the 4-wheel motors turn as instructed. Finally, the stability and tracking performance of the proposed control scheme are verified by theoretical analysis and comparative numerical simulations.

Original language	English
Title of host publication	Proceedings of the 41st Chinese Control Conference, CCC 2022
Editors	Zhijun Li, Jian Sun
Publisher	IEEE Computer Society
Pages	662-667
Number of pages	6
ISBN (Electronic)	9789887581536
DOIs	https://doi.org/10.23919/CCC55666.2022.9901516
Publication status	Published - 2022
Event	41st Chinese Control Conference, CCC 2022 - Hefei, China Duration: 25 Jul 2022 → 27 Jul 2022

Publication series

Name	Chinese Control Conference, CCC
Volume	2022-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	41st Chinese Control Conference, CCC 2022
Country/Territory	China
City	Hefei
Period	25/07/22 → 27/07/22

Keywords

Trajectory tracking control
extended state observer
model predictive control
skid-steering mobile robots

Access to Document

10.23919/CCC55666.2022.9901516

Cite this

Li, Z., Li, S., & Zhang, J. (2022). Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints. In Z. Li, & J. Sun (Eds.), Proceedings of the 41st Chinese Control Conference, CCC 2022 (pp. 662-667). (Chinese Control Conference, CCC; Vol. 2022-July). IEEE Computer Society. https://doi.org/10.23919/CCC55666.2022.9901516

@inproceedings{880efa994c604bcdbd3fb3cf6359be6a,

title = "Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints",

abstract = "The trajectory tracking problem of 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances and motion constraints is considered in this paper. A hierarchical control scheme is proposed to solve these problems. The motion constraints are considered in the kinematic layer with the model predictive control (MPC) approach, and the disturbances are estimated and compensated in the dynamics layer by a time-varying gain extended state observer (ESO). In addition, the control allocation is considered to allocate the virtual control inputs obtained by the upper layer controller to make the 4-wheel motors turn as instructed. Finally, the stability and tracking performance of the proposed control scheme are verified by theoretical analysis and comparative numerical simulations.",

keywords = "Trajectory tracking control, extended state observer, model predictive control, skid-steering mobile robots",

author = "Zhihui Li and Sihang Li and Jinhui Zhang",

note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Control Theory, Chinese Association of Automation.; 41st Chinese Control Conference, CCC 2022 ; Conference date: 25-07-2022 Through 27-07-2022",

year = "2022",

doi = "10.23919/CCC55666.2022.9901516",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "662--667",

editor = "Zhijun Li and Jian Sun",

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}

Li, Z, Li, S & Zhang, J 2022, Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints. in Z Li & J Sun (eds), Proceedings of the 41st Chinese Control Conference, CCC 2022. Chinese Control Conference, CCC, vol. 2022-July, IEEE Computer Society, pp. 662-667, 41st Chinese Control Conference, CCC 2022, Hefei, China, 25/07/22. https://doi.org/10.23919/CCC55666.2022.9901516

Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints. / Li, Zhihui; Li, Sihang; Zhang, Jinhui.
Proceedings of the 41st Chinese Control Conference, CCC 2022. ed. / Zhijun Li; Jian Sun. IEEE Computer Society, 2022. p. 662-667 (Chinese Control Conference, CCC; Vol. 2022-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints

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N2 - The trajectory tracking problem of 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances and motion constraints is considered in this paper. A hierarchical control scheme is proposed to solve these problems. The motion constraints are considered in the kinematic layer with the model predictive control (MPC) approach, and the disturbances are estimated and compensated in the dynamics layer by a time-varying gain extended state observer (ESO). In addition, the control allocation is considered to allocate the virtual control inputs obtained by the upper layer controller to make the 4-wheel motors turn as instructed. Finally, the stability and tracking performance of the proposed control scheme are verified by theoretical analysis and comparative numerical simulations.

AB - The trajectory tracking problem of 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances and motion constraints is considered in this paper. A hierarchical control scheme is proposed to solve these problems. The motion constraints are considered in the kinematic layer with the model predictive control (MPC) approach, and the disturbances are estimated and compensated in the dynamics layer by a time-varying gain extended state observer (ESO). In addition, the control allocation is considered to allocate the virtual control inputs obtained by the upper layer controller to make the 4-wheel motors turn as instructed. Finally, the stability and tracking performance of the proposed control scheme are verified by theoretical analysis and comparative numerical simulations.

KW - Trajectory tracking control

KW - extended state observer

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Hierarchical Scheme Based Trajectory Tracking Control for 4-Wheel Skid-Steering Mobile Robots With Unknown Disturbances and Motion Constraints

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