Comparative Study of PI Controller and Model Based Predictive Control for Mobile Robot

摘要

This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive controller which is an interesting approach that considers an explicit performance criterion and minimizes it during the computation of the control law. Simulation results are provided in order to show the effectiveness of model predictive control in the resolution of trajectory tracking problem.