Robust Optimal Control of Omni-directional Mobile Robot using Model Predictive Control Method

Abstract

This paper proposes a model predictive control method of omni-directional mobile robot to realize robust optimal control. An omni-directional mobile robot based on mecanum wheel is designed. It can move instantaneously in any direction from any state. However, slipping happens easily which leads to bad performance of control. Imprecision of encoder and location system makes it unsteady of mobile robot’s motion. This leads to more cost of battery energy. So, in order to design effective control method, both kinematics and dynamics model of omni-directional mobile robot are established. A robust model predictive control method is then proposed to achieve path tracking of omni-directional robot. To prove effectiveness of proposed method, comparison experiment is then carried out.