Nigel-Mechatronic Design and Robust Sim2Real Control of an Overactuated Autonomous Vehicle

Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating conditions, which often violates the performance guarantees established originally. This work presents a generalizable framew...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE/ASME transactions on mechatronics Jg. 29; H. 4; S. 2785 - 2793
Hauptverfasser: Samak, Chinmay V., Samak, Tanmay V., Velni, Javad M., Krovi, Venkat N.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.08.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuation
Actuators
Algorithms
Autonomous vehicles
Autonomy
Configuration management
Design parameters
Heuristic algorithms
mechatronic design
Mechatronics
Optimal control
overactuated systems
Parameter identification
Parameter robustness
Robust control
robust optimal control
simulation to reality (sim2real) transfer
Steering
Tracking control
Uncertainty
Vehicle dynamics
Wheels
ISSN:1083-4435, 1941-014X
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:Simulation to reality (sim2real) transfer from a dynamics and controls perspective usually involves re-tuning or adapting the designed algorithms to suit real-world operating conditions, which often violates the performance guarantees established originally. This work presents a generalizable framework for achieving reliable sim2real transfer of autonomy-oriented control systems using multimodel multiobjective robust optimal control synthesis, which lends well to uncertainty handling and disturbance rejection with theoretical guarantees. Particularly, this work is centered around a novel actuation-redundant scaled autonomous vehicle called Nigel, with independent all-wheel drive and independent all-wheel steering architecture, whose enhanced configuration space bodes well for robust control applications. To this end, we present the mechatronic design, dynamics modeling, parameter identification, and robust stabilizing as well as tracking control of Nigel using the proposed framework, with exhaustive experimentation and benchmarking in simulation as well as real-world settings.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2024.3401077