Nigel – Mechatronic Design and Robust Sim2Real Control of an Over-Actuated Autonomous Vehicle
CoRR(2024)
摘要
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.
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