Related papers: Distributed nonlinear model predictive control of …
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…
One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to avoid damaging the crop or planting when there is no crop…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
Existing works on control of tractor-trailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement.…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking problem of an autonomous tractor, as an agricultural production…
We present an algorithm, based on the Differential Dynamic Programming framework, to handle trajectory optimization problems in which the horizon is determined online rather than fixed a priori. This algorithm exhibits exact one-step…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their…
The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal yield. Autonomous navigation of an agricultural vehicle…