Nonlinear Predictive Motion Control for Autonomous Mobile Robots Considering Active Fault-Tolerant Control and Regenerative Braking

Abstract

To further advance the performance and safety of autonomous mobile robots (AMRs), an integrated chassis control framework is proposed. In the longitudinal motion control module, a velocity-tracking controller was designed with the integrated feedforward and feedback control algorithm. Besides, the nonlinear model predictive control (NMPC) method was applied to the four-wheel steering (4WS) path-tracking controller design. To deal with the failure of key actuators, an active fault-tolerant control (AFTC) algorithm was designed by reallocating the driving or braking torques of the remaining normal actuators, and the weighted least squares (WLS) method was used for torque reallocation. The simulation results show that AMRs can advance driving stability and braking safety in the braking failure condition with the utilization of AFTC and recapture the braking energy during decelerations.

Path Tracking for Car-like Robots Based on Neural Networks with NMPC as Learning Samples

“…Franco et al proposed a driverless system that includes lane line recognition and path tracking, where the path tracking is based on NMPC [31]. In 2022, Hang et al proposed a driverless vehicle control framework that includes longitudinal and lateral control using NMPC [32]. Lee and Choi designed an NMPC-based path tracking controller with integrated braking and steering [33].…”

Advanced Sensing and Safety Control for Connected and Automated Vehicles

“…This Special Issue on Sensors aims to report on some of the recent research efforts on this increasingly important topic. The 11 accepted papers in this Issue cover vehicle position estimation [1], 3D Object Detection [2], pedestrian state sense [3], trajectory prediction [4], criticality assessment [5], active fault-tolerant control for actuator failure [6], decision-making in the scenario of highway driving out of the ramp [7] and uncertain interactive traffic scenarios [8], RRT-based path planning algorithm [9], C/GMRES motion planning algorithm [10], and lane-keeping controller design [11]. In this introduction, a brief description of the content of each contribution forming the Special Issue is provided.…”

“…In [6], an active fault-tolerant control (AFTC) system is designed for the longitudinal motion control of autonomous mobile robots (AMRs) in the condition of braking failure of actuators. Specifically, a velocity-tracking controller is designed, with integrated feedforward and feedback control for normal longitudinal driving control.…”

“…In summary, there is a huge potential for the application of CAV in areas of traffic perception, decision-making, and driving safety improvement. This Special Issue contributes to this by proposing solutions to the general problems of state estimation [1], objective detection [2,3], trajectory prediction [4], driving safety improvement [5,6], decision-making [7,8], path planning [9,10] and vehicle motion control [11], which largely represent the theoretical challenges and practical interest of this research topic. Finally, we wish to thank the authors, reviewers, and journal staff for their commitment and effort, without which we could not have completed this Special Issue on time.…”