Pereira, Bruno S S (SENAI-CIMATEC), Santos, Tito (Federal University of Bahia), Conceicao, Andre Gustavo Scolari (Federal University of Bahia)

A Robust Feedback-Linearization MPC with Artificial Target for UGVs

Scheduled for presentation during the Regular Session "Robust and Nonlinear control" (WeBT3), Wednesday, July 16, 2025, 14:40−15:00, Room 107

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper proposes a new robust feedback-linearization MPC for a class of Unmanned Ground Vehicles. A robust MPC for trajectory tracking with an artificial target is combined with a suitable constraint mapping to ensure robust constraint satisfaction and recursive feasibility despite the effect of bounded disturbances. The artificial reference provides a potentially enlarged domain of attraction, and an analytical target modification is used to achieve the convergence of the tracking error to a minimal robust positively invariant set. The feedback-linearization trade-off concerning the transformed constraints is also analyzed. A case study demonstrating the control strategy's performance is presented using the Clearpath Husky A200 UGV and the OptiTrack motion capture system.