{"id":"https://openalex.org/W4404941756","doi":"https://doi.org/10.3390/robotics13120171","title":"Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel\u2013Ground Interactions","display_name":"Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel\u2013Ground Interactions","publication_year":2024,"publication_date":"2024-12-03","ids":{"openalex":"https://openalex.org/W4404941756","doi":"https://doi.org/10.3390/robotics13120171"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13120171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120171","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics13120171","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061347506","display_name":"Katherine Aro","orcid":"https://orcid.org/0000-0001-8784-6540"},"institutions":[{"id":"https://openalex.org/I2802166871","display_name":"Universidad Cat\u00f3lica del Norte","ror":"https://ror.org/02akpm128","country_code":"CL","type":"education","lineage":["https://openalex.org/I2802166871"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Katherine Aro","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile"],"raw_orcid":"https://orcid.org/0000-0001-8784-6540","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile","institution_ids":["https://openalex.org/I2802166871"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001957041","display_name":"Leonardo Guevara","orcid":"https://orcid.org/0000-0002-1581-8943"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Leonardo Guevara","raw_affiliation_strings":["Lincoln Center for Autonomous Systems, Lincoln Institute for Agri-Food Technology, Lincoln LN6 7TS, UK"],"raw_orcid":"https://orcid.org/0000-0002-1581-8943","affiliations":[{"raw_affiliation_string":"Lincoln Center for Autonomous Systems, Lincoln Institute for Agri-Food Technology, Lincoln LN6 7TS, UK","institution_ids":["https://openalex.org/I51532219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025698540","display_name":"Miguel Torres\u2010Torriti","orcid":"https://orcid.org/0000-0002-7904-7981"},"institutions":[{"id":"https://openalex.org/I162148367","display_name":"Pontificia Universidad Cat\u00f3lica de Chile","ror":"https://ror.org/04teye511","country_code":"CL","type":"education","lineage":["https://openalex.org/I162148367"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Miguel Torres-Torriti","raw_affiliation_strings":["Department of Electrical Engineering, Pontificia Universidad Cat\u00f3lica de Chile, Santiago 7820436, Chile"],"raw_orcid":"https://orcid.org/0000-0002-7904-7981","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pontificia Universidad Cat\u00f3lica de Chile, Santiago 7820436, Chile","institution_ids":["https://openalex.org/I162148367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100784375","display_name":"Felipe Torres Torres","orcid":"https://orcid.org/0000-0002-6818-5254"},"institutions":[{"id":"https://openalex.org/I2799535320","display_name":"Catholic University of the Maule","ror":"https://ror.org/04vdpck27","country_code":"CL","type":"education","lineage":["https://openalex.org/I2799535320"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Felipe Torres","raw_affiliation_strings":["Departamento de Computaci\u00f3n e Industrias, Universidad Cat\u00f3lica del Maule, Talca 3480112, Chile"],"raw_orcid":"https://orcid.org/0000-0002-6818-5254","affiliations":[{"raw_affiliation_string":"Departamento de Computaci\u00f3n e Industrias, Universidad Cat\u00f3lica del Maule, Talca 3480112, Chile","institution_ids":["https://openalex.org/I2799535320"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040794917","display_name":"Alvaro Prado","orcid":"https://orcid.org/0000-0001-7192-1681"},"institutions":[{"id":"https://openalex.org/I2802166871","display_name":"Universidad Cat\u00f3lica del Norte","ror":"https://ror.org/02akpm128","country_code":"CL","type":"education","lineage":["https://openalex.org/I2802166871"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Alvaro Prado","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile"],"raw_orcid":"https://orcid.org/0000-0001-7192-1681","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile","institution_ids":["https://openalex.org/I2802166871"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5040794917"],"corresponding_institution_ids":["https://openalex.org/I2802166871"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.5462,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83815828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"13","issue":"12","first_page":"171","last_page":"171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.715805172920227},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7130647301673889},{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.7128154635429382},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.6454689502716064},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6317187547683716},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5923497676849365},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5733004808425903},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5709677934646606},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4975261986255646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47955676913261414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39497169852256775},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2794516086578369},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21276089549064636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17307505011558533},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0834740698337555},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0771249532699585},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.06293702125549316}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.715805172920227},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7130647301673889},{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.7128154635429382},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.6454689502716064},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6317187547683716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5923497676849365},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5733004808425903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5709677934646606},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4975261986255646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47955676913261414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39497169852256775},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2794516086578369},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21276089549064636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17307505011558533},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0834740698337555},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0771249532699585},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06293702125549316},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13120171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120171","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b3b3dbd5f30c4830a2fee71b1dd5dcb0","is_oa":true,"landing_page_url":"https://doaj.org/article/b3b3dbd5f30c4830a2fee71b1dd5dcb0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 12, p 171 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13120171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13120171","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2708628360","display_name":null,"funder_award_id":"3230682","funder_id":"https://openalex.org/F4320334812","funder_display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica"},{"id":"https://openalex.org/G3111457819","display_name":null,"funder_award_id":"ACT210052","funder_id":"https://openalex.org/F4320334812","funder_display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica"},{"id":"https://openalex.org/G3595688968","display_name":null,"funder_award_id":"11230962","funder_id":"https://openalex.org/F4320334812","funder_display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica"}],"funders":[{"id":"https://openalex.org/F4320334812","display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica","ror":"https://ror.org/02ap3w078"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W139833592","https://openalex.org/W1134107867","https://openalex.org/W1982824121","https://openalex.org/W1994275787","https://openalex.org/W2135493101","https://openalex.org/W2137983719","https://openalex.org/W2238609161","https://openalex.org/W2514912564","https://openalex.org/W2552070033","https://openalex.org/W2565210018","https://openalex.org/W2800743216","https://openalex.org/W2808390209","https://openalex.org/W2925761457","https://openalex.org/W2944954869","https://openalex.org/W2973021624","https://openalex.org/W2974673232","https://openalex.org/W3000180857","https://openalex.org/W3008452933","https://openalex.org/W3018028835","https://openalex.org/W3022769103","https://openalex.org/W3030584295","https://openalex.org/W3083343096","https://openalex.org/W3105527798","https://openalex.org/W3105570727","https://openalex.org/W3107265498","https://openalex.org/W3119867786","https://openalex.org/W3142410314","https://openalex.org/W3149919154","https://openalex.org/W3152859531","https://openalex.org/W3155874687","https://openalex.org/W3156561134","https://openalex.org/W3190394309","https://openalex.org/W3202585017","https://openalex.org/W4206425228","https://openalex.org/W4220934935","https://openalex.org/W4223488534","https://openalex.org/W4225149109","https://openalex.org/W4226318837","https://openalex.org/W4281759221","https://openalex.org/W4285021652","https://openalex.org/W4289521162","https://openalex.org/W4289829390","https://openalex.org/W4296558702","https://openalex.org/W4296993029","https://openalex.org/W4297718031","https://openalex.org/W4302774154","https://openalex.org/W4306151893","https://openalex.org/W4309675225","https://openalex.org/W4309694734","https://openalex.org/W4312783594","https://openalex.org/W4313563034","https://openalex.org/W4318212360","https://openalex.org/W4324119162","https://openalex.org/W4324130568","https://openalex.org/W4367181647","https://openalex.org/W4367680680","https://openalex.org/W4376623500","https://openalex.org/W4383097446","https://openalex.org/W4386127038","https://openalex.org/W4386712935","https://openalex.org/W4386961410","https://openalex.org/W4387457296","https://openalex.org/W4388903641","https://openalex.org/W4391849600","https://openalex.org/W6777268804"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,16,73,104,109,132],"robust":[4,242],"control":[5,9,106,124,145],"strategy":[6,37,139],"for":[7,82,142,169,227,232],"trajectory-tracking":[8,26,144,223],"of":[10,44,96,159,210],"Skid-Steer":[11],"Mobile":[12],"Manipulators":[13],"(SSMMs)":[14],"using":[15,72],"Robust":[17],"Nonlinear":[18],"Model":[19],"Predictive":[20],"Control":[21,120],"(R-NMPC)":[22],"approach":[23,220],"that":[24,78],"minimises":[25],"errors":[27,224],"while":[28],"overcoming":[29],"model":[30,90,177],"uncertainties":[31,81,173],"and":[32,55,66,86,100,113,172,183,189,199,230,244],"terra-mechanical":[33],"disturbances.":[34,161],"The":[35,89],"proposed":[36,212],"is":[38,91,140,165],"aimed":[39],"at":[40],"counteracting":[41],"the":[42,48,52,63,83,127,137,143,147,157,163,176,180,184,208,211,218,238],"effects":[43],"disturbances":[45,171],"caused":[46],"by":[47,59,225],"slip":[49],"phenomena":[50],"through":[51],"wheel\u2013terrain":[53],"contact":[54],"bidirectional":[56],"interactions":[57,69],"propagated":[58],"mechanical":[60],"coupling":[61],"between":[62,179],"SSMM":[64],"base":[65,85,198],"arm.":[67],"These":[68,235],"are":[70],"modelled":[71],"coupled":[74],"nonlinear":[75],"dynamic":[76],"framework":[77],"integrates":[79,108],"bounded":[80],"mobile":[84,228],"arm":[87,203],"joints.":[88],"developed":[92],"based":[93,116],"on":[94,117,193],"principles":[95],"full-body":[97],"energy":[98],"balance":[99],"link":[101],"torques.":[102],"Then,":[103,162],"centralized":[105],"architecture":[107],"nominal":[110,181],"NMPC":[111,138],"(disturbance-free)":[112],"ancillary":[114],"controller":[115],"Active":[118],"Disturbance-Rejection":[119],"(ADRC)":[121],"to":[122,155,167,215,240],"strengthen":[123],"robustness,":[125],"operating":[126],"full":[128],"system":[129,186],"dynamics":[130],"as":[131],"single":[133],"robotic":[134,202],"body.":[135],"While":[136],"responsible":[141],"task,":[146],"ADRC":[148,164],"leverages":[149],"an":[150,194],"Extended":[151],"State":[152],"Observer":[153],"(ESO)":[154],"quantify":[156],"impact":[158],"external":[160,170],"devoted":[166],"compensating":[168],"stemming":[174],"from":[175],"mismatch":[178],"representation":[182],"actual":[185],"response.":[187],"Simulation":[188],"field":[190],"experiments":[191],"conducted":[192],"assembled":[195],"Pioneer":[196],"3P-AT":[197],"Katana":[200],"6M180":[201],"under":[204],"terrain":[205],"constraints":[206],"demonstrate":[207],"effectiveness":[209],"method.":[213],"Compared":[214],"non-robust":[216],"controllers,":[217],"R-NMPC":[219],"significantly":[221],"reduced":[222],"79.5%":[226],"bases":[229],"42.3%":[231],"robot":[233],"arms.":[234],"results":[236],"highlight":[237],"potential":[239],"enhance":[241],"performance":[243],"resource":[245],"efficiency":[246],"in":[247],"complex":[248],"navigation":[249],"conditions.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
