Title: Robust Tube-based Decentralized Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System
Authors: Kayacan, Erkan ×
Kayacan, Erdal
Ramon, Herman
Saeys, Wouter #
Issue Date: Feb-2015
Publisher: Institute of Electrical and Electronics Engineers
Series Title: IEEE/ASME Transactions on Mechatronics vol:20 issue:1 pages:447-456
Abstract: 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 are neglected and assumed to be perturbations to each other. In order to have a robust design, a tube-based approach is proposed to handle the differences between the nominal model and real system. Nonlinear moving horizon estimation is used for the state and parameter estimation after each new measurement, and the estimated values are fed the to robust tube-based decentralized nonlinear model predictive controller. The proposed control scheme is capable of driving the tractor-trailer system to any desired trajectory ensuring high control accuracy and robustness against neglected subsystem interactions and environmental disturbances. The experimental results show an accurate trajectory tracking performance on a bumpy grass field.
ISSN: 1083-4435
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Division of Mechatronics, Biostatistics and Sensors (MeBioS)
× corresponding author
# (joint) last author

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