Trajectory tracking control for mobile robots considering position of mass center

In this study, the control problem of trajectory tracking of mobile robots considering the difference between the center of mass and the geometric center is presented. In vehicles, sometimes the mass and geometric centers are not the same, which may be due to a load. In this case, the tracking error...

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Bibliographic Details
Published in:Optimal control applications & methods 2021-11, Vol.42 (6), p.1542-1555
Main Authors: Shahbazzadeh, Majid, Sadati, Seyed Jalil, Minagar, Sara
Format: Article
Language:English
Subjects:
center of mass
Control theory
Differential equations
Feedback control
Feedforward control
Linearization
mobile robot
Model accuracy
model predictive control
Predictive control
Robot control
Tracking control
Tracking errors
Trajectory control
trajectory tracking
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Summary:In this study, the control problem of trajectory tracking of mobile robots considering the difference between the center of mass and the geometric center is presented. In vehicles, sometimes the mass and geometric centers are not the same, which may be due to a load. In this case, the tracking error model is obtained for the first time. Then, this model is linearized around the reference trajectory. The control law consists of feedforward and feedback actions. The feedforward part is calculated from the reference trajectory, which leads to solving a complex differential equation. On the other hand, based on the linearized tracking error model, a model predictive controller is utilized to compute the feedback control part. Finally, the simulation results illustrate the modeling accuracy and efficiency of the proposed method.
ISSN:0143-2087
1099-1514
DOI:10.1002/oca.2744