Model Based Trajectory Tracking Control of Nonholonomic Mobile Robots

Abstract

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A new trajectory tracking control scheme is proposed aiming at the problem of model parameters uncertainty and poor environmental adaptability in non-holonomic mobile robot control. Dynamic characteristics of mobile robots are considered in problem formulation. The control objective is to make the robot move along an expected trajectory with low tracking error while fulfilling its physical constraints. The proposed control scheme is implemented by a combined use of MPC algorithm and grey-box identification. Simulation results show the benefits of the systematic control methodology employed.