Optimal Robust Output-Tracking of Autonomous Rovers with Dynamic Traction Control

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Creator: 

Mottaghi, Mohammadreza

Date: 

2022

Abstract: 

This thesis develops a robust output-tracking control strategy for autonomous rover systems with redundant control directions. Taking advantage of their redundancy, an optimal distribution of control actions is proposed to enhance the dynamic traction of such systems. A robust optimal output-tracking control strategy for underactuated mechanical systems subject to mixed holonomic and nonholonomic constraints is presented. Then, we develop a novel methodology to optimally lift the proposed robust control law from the output dynamics to the space of control actions. This methodology aims at enhancing the dynamic traction of autonomous rovers, without affecting the tracking performance of the system. To improve approximations used in this optimization, a disturbance observer is designed in the time domain. The developed control strategy is evaluated for a six-wheel autonomous Lunar rover in a simulation environment. The developed traction control algorithm is also implemented in a software-in-the-loop simulation environment using Vortex Studio.

Subject: 

Robotics
Engineering - Mechanical
Engineering - Electronics and Electrical

Language: 

English

Publisher: 

Carleton University

Note: 

Parts of this thesis have been submitted to IEEE for possible publication. Upon acceptance, the publication details will be added here. In reference to IEEE copyrighted material which is used with permission in this thesis, the IEEE does not endorse any of Carleton University’s products or services. Internal or personal use of this material is permitted. If interested in reprinting/republishing IEEE copyrighted material for advertising or promotional purposes or for creating new collective works for resale or redistribution, please go to http://www.ieee.org/publications_standards/publications/rights/rights_link.html to learn how to obtain a License from RightsLink. If applicable, University Microfilms and/or ProQuest Library, or the Archives of Canada may supply single copies of the dissertation.

Thesis Degree Name: 

Master of Applied Science: 
M.App.Sc.

Thesis Degree Level: 

Master's

Thesis Degree Discipline: 

Engineering, Mechanical

Parent Collection: 

Theses and Dissertations

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