MAC Controller for Path Tracking of a Wheeled Mobile Robot in the Presence of Skidding Effects

Yuanliang Zhang, Ji Hyoung Ryu, Kil To Chong
2017 International Journal of Control and Automation  
This paper proposed a model algorithm control (MAC) method for path tracking control of a differentially-steered wheeled mobile robot (WMR) considering the presence of disturbances that violate the nonholonomic constraints. MAC is a one-step-ahead predictive controller in which the control law is obtained by minimizing the output error. The design of MAC controller is based on the discretized form of the control system. In this paper a time discretization method using the Taylor series and
more » ... lor series and zero-order-hold (ZOH) assumption was proposed to discetize the continuous model of the WMR. Then MAC controller was designed to perform the tracking control for the mobile robot basing on the WMR's discretized model. The presence of skidding effects which violates the nonholonomic constraints was considered during simulations and experiments done to verify the performance and feasibility of the proposed control strategy.
doi:10.14257/ijca.2017.10.5.27 fatcat:errexm2hgvahtii3iydzy54fzu