arXiv subjects

Marina Murillo

Publications and source records attributed to Marina Murillo.

4 recordsLinked to original sources

arXiv2026

Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model

This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.

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arXiv2026

MPC for nonlinear systems: a comparative review of discretization methods

This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control problems: direct multiple shooting, direct collocation and successive linearizations. An overview of the characteristics of each method is given and the performance of each method is evaluated through the simulation of two test cases.

eess.SY↗

arXiv2026

Adaptive arrival cost update for improving Moving Horizon Estimation performance

Moving horizon estimation is an efficient technique to estimate states and parameters of constrained dynamical systems. It relies on the solution of a finite horizon optimization problem to compute the estimates, providing a natural framework to handle bounds and constraints on estimates, noises and parameters. However, the approximation of the arrival cost and its updating mechanism are an active research topic. The arrival cost is very important because it provides a mean to incorporate information from previous measurements to the current estimates and it is difficult to estimate its true value. In this work, we exploit the features of adaptive estimation methods to update the parameters of the arrival cost. We show that, having a better approximation of the arrival cost, the size of the optimization problem can be significantly reduced guaranteeing the stability and convergence of the estimates. These properties are illustrated through simulation studies.

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arXiv2019

A Receding Horizon Framework for Autonomy in Unmanned Vehicles

In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are solved using model predictive control and moving horizon estimation techniques, which allows us to include physical and dynamical constraints at the design stage, thus leading to optimal and feasible results. In order to demonstrate the capabilities of the proposed framework, we have used Gazebo simulator in order to drive a Jackal unmanned ground vehicle (UGV) along a desired path computed by the path-planning task. The results we have obtained are successful as the estimation and guidance errors are small and the Jackal UGV is able to follow the desired path satisfactorily and it is also capable to avoid the obstacles which are in its way.

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