A Model Predictive Control Strategy for Path-Tracking of Autonomous Mobile Robot Using Electromagnetism-Like Mechanism

Aiming at the problems in path-tracking control problem of wheeled mobile robots, in the presence of both actuator saturations and external disturbances, a model predictive control strategy is proposed in this paper optimization method of electromagnetism-like mechanism are used to perform real-time nonlinear minimization of the cost function which penalizes the robot´s position error, orientation angle error, saturation limits of the actuators and external disturbance. Experiment results of the trajectory following and the performances of the methods of optimization are discussed.