On the robust longitudinal trajectory tracking for load transportation vehicles on uneven terrains

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dc.creatorVictor Ricardo Fernandes Miranda
dc.creatorLeonardo Amaral Mozelli
dc.creatorArmando Alves Neto
dc.creatorGustavo Medeiros Freitas
dc.date.accessioned2025-05-06T15:10:09Z
dc.date.accessioned2025-09-08T23:46:19Z
dc.date.available2025-05-06T15:10:09Z
dc.date.issued2019
dc.identifier.doi10.1109/ICAR46387.2019.8981641
dc.identifier.urihttps://hdl.handle.net/1843/82060
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartof19th International Conference on Advanced Robotics (ICAR)
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subject.otherRobot navigation
dc.subject.otherRobust 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
dc.titleOn the robust longitudinal trajectory tracking for load transportation vehicles on uneven terrains
dc.typeArtigo de evento
local.description.resumoThe 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8981641

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