Research on Model Predictive Control Strategy Based on Slip Angle of Omnidirectional Mobile Robot

When the host computer controls the omnidirectional mobile robot to track the expected trajectory according to the planned path task, it needs to make timely corrections and feedback for possible trajectory deviations in order to meet the flexibility and reliability of the omnidirectional mobile robot. In this paper, a model predictive control improvement method based on slip angle is proposed to effectively improve the real-time as well as tracking characteristics without affecting the dynamic performance of the omnidirectional mobile robot tracking. Through MATLAB simulation software, it is demonstrated that the model predictive control strategy based on the slip angle meets the reliability of the omnidirectional mobile robot in performing trajectory tracking.