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The proposed strategy is aimed at counteracting the effects of disturbances caused by the slip phenomena through the wheel\u2013terrain contact and bidirectional interactions propagated by mechanical coupling between the SSMM base and arm. These interactions are modelled using a coupled nonlinear dynamic framework that integrates bounded uncertainties for the mobile base and arm joints. The model is developed based on principles of full-body energy balance and link torques. Then, a centralized control architecture integrates a nominal NMPC (disturbance-free) and ancillary controller based on Active Disturbance-Rejection Control (ADRC) to strengthen control robustness, operating the full system dynamics as a single robotic body. While the NMPC strategy is responsible for the trajectory-tracking control task, the ADRC leverages an Extended State Observer (ESO) to quantify the impact of external disturbances. Then, the ADRC is devoted to compensating for external disturbances and uncertainties stemming from the model mismatch between the nominal representation and the actual system response. Simulation and field experiments conducted on an assembled Pioneer 3P-AT base and Katana 6M180 robotic arm under terrain constraints demonstrate the effectiveness of the proposed method. Compared to non-robust controllers, the R-NMPC approach significantly reduced trajectory-tracking errors by 79.5% for mobile bases and 42.3% for robot arms. These results highlight the potential to enhance robust performance and resource efficiency in complex navigation conditions.<\/jats:p>","DOI":"10.3390\/robotics13120171","type":"journal-article","created":{"date-parts":[[2024,12,3]],"date-time":"2024-12-03T09:18:32Z","timestamp":1733217512000},"page":"171","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Robust Nonlinear Model Predictive Control for the Trajectory Tracking of Skid-Steer Mobile Manipulators with Wheel\u2013Ground Interactions"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8784-6540","authenticated-orcid":false,"given":"Katherine","family":"Aro","sequence":"first","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1581-8943","authenticated-orcid":false,"given":"Leonardo","family":"Guevara","sequence":"additional","affiliation":[{"name":"Lincoln Center for Autonomous Systems, Lincoln Institute for Agri-Food Technology, Lincoln LN6 7TS, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7904-7981","authenticated-orcid":false,"given":"Miguel","family":"Torres-Torriti","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Pontificia Universidad Cat\u00f3lica de Chile, Santiago 7820436, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6818-5254","authenticated-orcid":false,"given":"Felipe","family":"Torres","sequence":"additional","affiliation":[{"name":"Departamento de Computaci\u00f3n e Industrias, Universidad Cat\u00f3lica del Maule, Talca 3480112, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7192-1681","authenticated-orcid":false,"given":"Alvaro","family":"Prado","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Computaci\u00f3n, Universidad Cat\u00f3lica del Norte, Antofagasta 1249004, Chile"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ghodsian, N., Benfriha, K., Olabi, A., Gopinath, V., and Arnou, A. 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