On the robust longitudinal trajectory tracking for load transportation vehicles on uneven terrains
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Universidade Federal de Minas Gerais
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The longitudinal trajectory tracking for small Unmanned Ground Vehicles (UGVs) subject to real-world disturbances is addressed, by considering an anisotropic ground friction and the variation of its own mass during transportation. A methodology was proposed to perform the design of the controller in the Proportional-Integral-Derivative (PID) format, which is robust to parametric uncertainties and minimizes output disturbances. Next, a small ground platform for load delivery tasks has been developed, equipped with low-cost navigation sensors and onboard computers. Finally, simulated and real-world experiments illustrate the effectiveness of this application under different scenarios, by combining distinct conditions of friction, payload, and terrain profiles.
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Robôs - Sistemas de controle
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Robot navigation, Robust Tracking , Uneven Terrain , Load Transport , Navigation , Parameter Uncertainty , Real-world Experiments , Low-cost Sensors , Unmanned Ground Vehicles , Simulation Results , Optimal Control , Feedback Control , Control Problem , Adaptive Control , Robust Control , Tracking Error , Robust Design , Model Predictive Control , Mass Variation , Sliding Mode Control , Linear Matrix Inequalities , Robot Operating System , Rough Terrain , Ground Slope , Trajectory Tracking Problem , Vehicle Mass , Longitudinal Velocity , Tallgrass , Terrain Conditions , Complex Plane , Nonlinear Control
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https://ieeexplore.ieee.org/document/8981641