Trajectory tracking of two wheeled mobile robot

Abstract

This paper focus on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law than we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive controller which is an interesting approach that considers an explicit performance criterion and minimizes it during the computation of the control law. Simulation results are provided in order to show the effectiveness of model predictive control in the resolution of trajectory tracking problem.