کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Posture Stabilization of Tractor-Trailer Wheeled Mobile Robot Using Nonlinear MPC

نویسندگان :

Kevin Babakhanloo¹ Khalil Alipour² Bahram Tarvirdizadeh³ Majid Sorouri⁴ Mohammad Ghamari⁵

1- دانشگاه تهران، دانشکده علوم و فنون نوین 2- دانشگاه تهران، دانشکده علوم و فنون نوین 3- دانشگاه تهران، دانشکده علوم و فنون نوین 4- Department of Electronic Engineering, Maynooth University, Maynooth, Co. Kildare, Ireland 5- Electrical Engineering Department, California Polytechnic State University

کلمات کلیدی :

Nonlinear Model Predictive Control (NMPC)،Particle Swarm Optimization (PSO)،Tractor-Trailer Wheeled Mobile Robots (TTWMRs)،Posture Stabilization،Energy Efficiency

چکیده :

This paper presents a novel control framework that overcomes the challenges of tractor-trailer wheeled mobile robot (TTWMRs) posture stabilization by integrating Nonlinear Model Predictive Control (NMPC) with an adaptive Particle Swarm Optimization (PSO) algorithm. Our framework addresses three critical challenges: the nonlinear dynamics of tractor-trailer systems, precise posture stabilization and parking maneuvers, and the prevention of jackknife conditions. We introduce a two-stage optimization approach where PSO first optimizes NMPC weights for positioning accuracy and then enhances energy efficiency while maintaining performance. The framework automatically adapts to different scenarios without manual tuning, making it particularly valuable for practical applications. Simulation results demonstrate exceptional performance with position errors below 1 cm and orientation errors under 0.01 radians across various parking scenarios. Compared to traditional methods, the framework significantly improves maneuverability and energy efficiency, making it an effective solution for autonomous systems in applications such as automated warehouses and industrial logistics.