Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient linear MPC algorithms under constraints. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.