Design of a constrained controller for wheeled mobile robot implemented in V-Rep simulator

Abstract

This study deals with a nonlinear constrained control system for the trajectory tracking of wheeled mobile robots (WMR) with constraints. To this aim, a new constrained controller is developed for WMR based on a predictive approach with input limitations for trajectory tracking. The proposed method leads to an optimization problem that is solved by the Karush Kuhn Tucker conditions (KKT) which employ a continuous nonlinear model of WMR. Finally, the performance of the proposed control method is evaluated by realistic motion models within a virtual robot experimentation platform (V-Rep). The results indicate that the proposed control method not only decreases the trajectory tracking error in the presence of input constraints but also it is suitable for online implementation compared with conventional nonlinear model predictive control (NMPC).