Low time-consuming implementation of predictive path-tracking control for a "synchro-drive" mobile robot

摘要

This paper presents the application of a Smith predictor based generalised predictive controller (SPGPC) to the path-tracking problem of a synchro drive mobile robot. The higher robustness of the SPGPC algorithm, if compared to a generalised predictive controller (GPC) based on an optimal predictor, allows the use of a simple model for the mobile robot. Thus, the final control law is simpler and less time consuming than the GPC, maintaining the same nominal performance and better robustness. Experimental tests carried out on a Nomad 200 mobile robot validate the performance of the proposed strategy.