Design of Path Tracking Control for Wheeled Mobile Robots Based on Model Predictive Control

The path tracking control is investigated in this paper using a four-wheeled robot kinematical model and tube-based model predictive control. Simultaneously, in order to improve the robustness, the steering angle calculated by the model predictive controller is converted into the corresponding expected yaw rate through the vehicle kinematical model, owing to the better control effect of the cascade control. To track the expected yaw rate, we use a basic PID controller. By combining the PID controller and the model predictive controller, the path tracking controller bridges the gap between theoretical results and their applications for four-wheeled robot tracking control.