Trajectory tracking control for mobile robots considering position of mass center

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Abstract
In this study, the control problem of trajectory tracking of mobile robots considering the difference between the center of mass and the geometric center is presented. In vehicles, sometimes the mass and geometric centers are not the same, which may be due to a load. In this case, the tracking error model is obtained for the first time. Then, this model is linearized around the reference trajectory. The control law consists of feedforward and feedback actions. The feedforward part is calculated from the reference trajectory, which leads to solving a complex differential equation. On the other hand, based on the linearized tracking error model, a model predictive controller is utilized to compute the feedback control part. Finally, the simulation results illustrate the modeling accuracy and efficiency of the proposed method.

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