Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage

Wei, Shangming; Uthaichana, Kasemsak; Žefran, Miloš; DeCarlo, Raymond A.

doi:10.1109/tcst.2012.2227964

Cited by 44 publications

(24 citation statements)

References 27 publications

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“…The use of this penalty term, which is set forth to encode the desired control objectives, implies that the numerical solution of the optimal control problem must combine the usual collocation technique describe in Section 2.2 with a penalty function methodology. In particular, in this work, the well-known continuation method has been implemented following a similar approach to [19]. In this specific case of waypoint modeling, the penalty term takes the form…”

Section: Waypoint Constraintsmentioning

confidence: 99%

Multiaircraft Optimal 4D Trajectory Planning Using Logical Constraints

Seenivasan

Olivares

Staffetti

2019

International Journal of Aerospace Engineering

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This paper studies the trajectory planning problem for multiple aircraft with logical constraints in disjunctive form which arise in modeling passage through waypoints, distance-based and time-based separation constraints, decision-making processes, conflict resolution policies, no-fly zones, or obstacle or storm avoidance. Enforcing separation between aircraft, passage through waypoints, and obstacle avoidance is especially demanding in terms of modeling efforts. Indeed, in general, separation constraints require the introduction of auxiliary integer variables in the model; for passage constraints, a multiphase optimal control approach is used, and for obstacle avoidance constraints, geometric approximations of the obstacles are introduced. Multiple phases increase model complexity, and the presence of integer variables in the model has the drawback of combinatorial complexity of the corresponding mixed-integer optimal control problem. In this paper, an embedding approach is employed to transform logical constraints in disjunctive form into inequality and equality constraints which involve only continuous auxiliary variables. In this way, the optimal control problem with logical constraints is converted into a smooth optimal control problem which is solved using traditional techniques, thereby reducing the computational complexity of finding the solution. The effectiveness of the approach is demonstrated through several numerical experiments by computing the optimal trajectories of multiple aircraft in converging and intersecting arrival routes with time-based separation constraints, distance-based separation constraints, and operational constraints.

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Section: Waypoint Constraintsmentioning

confidence: 99%

Multiaircraft Optimal 4D Trajectory Planning Using Logical Constraints

Seenivasan

Olivares

Staffetti

2019

International Journal of Aerospace Engineering

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“…In Muralidharan and Mahindrakar (2013), the stabilization of mobile robot with constraints of configuration is solved by sliding mode technique. Stabilization of a mobile robot using model predictive control is presented in Xiao et al (2017), Wei et al (2013).…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of Stabilization Controls of a Forklift Vehicle

Widyotriatmo

2019

Acta Mechanica Et Automatica

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This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.

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“…As a special type of hybrid systems, switched systems have attracted increasing attention [10,11]. Wei et al study the problem of traction control, that is, how to stabilize a wheeled mobile robot (WMR) subject to wheel slippage to a desired configuration [12]. Uthaichana et al present a hybrid optimal control solution for the power management problem of a parallel hybrid electric vehicle (PHEV), based on a two-mode operation model of PHEV [13].…”

Section: Introductionmentioning

confidence: 99%

Ecodriving for Reduction of Bus Transit Emission with Vehicle’s Hybrid Dynamic Model

Zheng

Zhang

2015

Mathematical Problems in Engineering

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This paper formulates a global ecodriving optimal control to advise the green driving speed for bus transit to minimize the exhaust emission using Vehicle-to-Infrastructure (V2I) communication. Assuming communication between vehicles and infrastructure (V2I) and knowledge of traffic signal timings and waiting passengers at stations are known, an optimal driving speed is proposed to minimize the total vehicle emissions of the bus route. The dwell time of the bus transit at each station which includes two parts is proposed. A traffic lights timing model is employed as constraints to control the formation of the green wave band. Vehicle specific power (VSP) model is further applied to evaluate the exhaust emission level linked with the speed and acceleration of the bus transit. An approximate sixteen-kilometer traffic network including fourteen intersections and fifteen stations of Beijing bus transit line 1 in Chaoyang District, Beijing, is chosen to investigate the performance of the developed ecodriving approach.

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Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage

Cited by 44 publications

References 27 publications

Multiaircraft Optimal 4D Trajectory Planning Using Logical Constraints

Multiaircraft Optimal 4D Trajectory Planning Using Logical Constraints

Comparative Study of Stabilization Controls of a Forklift Vehicle

Ecodriving for Reduction of Bus Transit Emission with Vehicle’s Hybrid Dynamic Model

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