Fast and precise positioning of wheeled Omni-directional robot with input delay using model-based predictive control

In dynamic environments, Omni-directional mobile robots sometimes are required to accomplish accurate and stable tracking of trajectories, but rare researches are addressed in the literature, which specifically deal with time-delay phenomenon. In order to cope with such situation, the trajectory tracking of an Omni-directional mobile robot is handled by model predictive control in presence of input-delay. The main innovation of this work is that MPC controller is employed to the end of trajectory. Hence, a significant reduction is yielded in the time of robot motion. This strategy forces that MPC method uses nearly good model approximation in which, the model deficiency can be compensated by modifying the novel kinematic model for robot. Furthermore, in this study, the proposed controller is compared with PID controller that achieve about 40% enhancement in amount of time to reach target and also results in to the more precise robot control in target point error.