Trajectory Tracking Based on Model Predictive Control for Omni-directional Mobile Robot

Abstract

Based on the kinematics model of the omni-directional mobile robot,the design of the trajectory tracking controller for RoboCup Middle Size League soccer robots studied.The linear full dynamic error model has been developed for the system description,then model predictive control is employed to design the control law to satisfy both the kinematics and dynamic constraints,and the Laguerre Function is used in MPC design to guarantee good dynamic performance in trajectory tracking and reduce the needed computation time.The simulation results show the feasibility and effectiveness of the proposed algorithm.