@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",
booktitle = "Proceedings of the 41st Chinese Control Conference, CCC 2022",
address = "United States",
}