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Computer Science > Robotics
Title: Nigel -- Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle
(Submitted on 21 Jan 2024 (this version), latest version 27 Mar 2024 (v2))
Abstract: 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 multi-model multi-objective robust optimal control synthesis, which lends well to uncertainty handling and disturbance rejection with theoretical guarantees. Particularly, this work is centered around an 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 a systematic study on the complete mechatronic design, dynamics modeling, parameter identification, and robust stabilizing as well as steady-state tracking control of Nigel using the proposed framework, with experimental validation.
Submission history
From: Chinmay Samak [view email][v1] Sun, 21 Jan 2024 16:51:07 GMT (47375kb,D)
[v2] Wed, 27 Mar 2024 04:39:26 GMT (8102kb,D)
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