Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade

Teemu Mononen; Mohammad M. Aref; Jouni Mattila

doi:10.1109/CIS-RAM47153.2019.9095816

Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade

Teemu Mononen, Mohammad M. Aref, Jouni Mattila

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

5 Citations (Scopus)

46 Downloads (Pure)

Abstract

In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle trajectory. We specify the desired blade cut edge trajectory in the world reference frame and map it to the joint space. In the mapping, we consider the vehicle body orientation and generate a preview of the desired trajectory for the NMPC by estimating the future orientation based on its current value. We test the performance of our controller in MATLAB Simscape. The results show that the proposed controller tracks the desired world frame position with sub-centimeter accuracy regardless of the vehicle body motion and inclination.

Original language	English
Title of host publication	Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM)
Publisher	IEEE
Pages	565-570
Number of pages	6
ISBN (Electronic)	978-1-7281-3458-1
ISBN (Print)	978-1-7281-3459-8
DOIs	https://doi.org/10.1109/CIS-RAM47153.2019.9095816
Publication status	Published - 2019
Publication type	A4 Article in conference proceedings
Event	IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) - Duration: 1 Jan 2000 → …

Publication series

Name	IEEE International Conference on Cybernetics and Intelligent Systems
ISSN (Print)	2326-8123
ISSN (Electronic)	2326-8239

Conference

Conference	IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
Abbreviated title	CIS-RAM
Period	1/01/00 → …

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Publication forum level 1

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10.1109/CIS-RAM47153.2019.9095816

Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade 2019
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Accepted author manuscript, 1.09 MB

http://urn.fi/URN:NBN:fi:tuni-202001271579

Cite this

Mononen, T., M. Aref, M., & Mattila, J. (2019). Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade. In Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM) (pp. 565-570). (IEEE International Conference on Cybernetics and Intelligent Systems). IEEE. https://doi.org/10.1109/CIS-RAM47153.2019.9095816

Mononen, Teemu ; M. Aref, Mohammad ; Mattila, Jouni. / Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade. Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM). IEEE, 2019. pp. 565-570 (IEEE International Conference on Cybernetics and Intelligent Systems).

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title = "Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade",

abstract = "In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle trajectory. We specify the desired blade cut edge trajectory in the world reference frame and map it to the joint space. In the mapping, we consider the vehicle body orientation and generate a preview of the desired trajectory for the NMPC by estimating the future orientation based on its current value. We test the performance of our controller in MATLAB Simscape. The results show that the proposed controller tracks the desired world frame position with sub-centimeter accuracy regardless of the vehicle body motion and inclination.",

author = "Teemu Mononen and {M. Aref}, Mohammad and Jouni Mattila",

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isbn = "978-1-7281-3459-8",

series = "IEEE International Conference on Cybernetics and Intelligent Systems",

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note = "IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), CIS-RAM ; Conference date: 01-01-2000",

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Mononen, T, M. Aref, M & Mattila, J 2019, Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade. in Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM). IEEE International Conference on Cybernetics and Intelligent Systems, IEEE, pp. 565-570, IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 1/01/00. https://doi.org/10.1109/CIS-RAM47153.2019.9095816

Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade. / Mononen, Teemu; M. Aref, Mohammad; Mattila, Jouni.
Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM). IEEE, 2019. p. 565-570 (IEEE International Conference on Cybernetics and Intelligent Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade

AU - Mononen, Teemu

AU - M. Aref, Mohammad

AU - Mattila, Jouni

PY - 2019

Y1 - 2019

N2 - In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle trajectory. We specify the desired blade cut edge trajectory in the world reference frame and map it to the joint space. In the mapping, we consider the vehicle body orientation and generate a preview of the desired trajectory for the NMPC by estimating the future orientation based on its current value. We test the performance of our controller in MATLAB Simscape. The results show that the proposed controller tracks the desired world frame position with sub-centimeter accuracy regardless of the vehicle body motion and inclination.

AB - In this paper, we present a study on nonlinear model predictive control (NMPC) of a bulldozer blade actuated by hydraulic cylinders. We design the controller in the manipulator joint space to track the desired joint angle trajectory. We specify the desired blade cut edge trajectory in the world reference frame and map it to the joint space. In the mapping, we consider the vehicle body orientation and generate a preview of the desired trajectory for the NMPC by estimating the future orientation based on its current value. We test the performance of our controller in MATLAB Simscape. The results show that the proposed controller tracks the desired world frame position with sub-centimeter accuracy regardless of the vehicle body motion and inclination.

U2 - 10.1109/CIS-RAM47153.2019.9095816

DO - 10.1109/CIS-RAM47153.2019.9095816

M3 - Conference contribution

SN - 978-1-7281-3459-8

T3 - IEEE International Conference on Cybernetics and Intelligent Systems

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EP - 570

BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM)

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T2 - IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)

Y2 - 1 January 2000

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Mononen T, M. Aref M, Mattila J. Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade. In Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems (CIS) and Robotics, Automation and Mechatronics (RAM). IEEE. 2019. p. 565-570. (IEEE International Conference on Cybernetics and Intelligent Systems). doi: 10.1109/CIS-RAM47153.2019.9095816

Nonlinear model predictive control of a heavy-duty hydraulic bulldozer blade

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