Robust tube-based predictive control for mobile robots in off-road conditions

This paper focuses on the design of a tube-based Model Predictive Control law for the control of constrained mobile robots in off-road conditions with longitudinal slip while ensuring robustness and stability. A time-varying trajectory tracking error model is used, where uncertainties are assumed to be bounded and additive. The robust tube-based MPC is compared with other motion control techniques through simulation and physical experiments. These tests show the satisfactory behavior of the presented control strategy. ► The proposed control strategy achieves these main goals. ► Robustness (constraints take into account uncertainties and time-varying dynamics). ► Performance (an optimization problem is solved at each sampling instant). ► Input and state constraint fulfillment are ensured. ► Efficient real-time execution.