A Nonlinear Optimal Multivariable Controller Design for Trajectory Tracking of Non-Holonomic Mobile Robots

In this paper, a predictive approach is applied to design a nonlinear multivariable controller to generate trajectory tracking control commands of non-holonomic robots. In this method, the nonlinear responses of the mobile robot are predicted using Taylor series. The optimal control laws are analytically developed by minimizing the difference between the predicted and the desired responses of the system outputs. The obtained control laws lead to the feedback linearization. Here, the nonlinear kinematics model of mobile robot is used for design of the controller and simulations. The performed analyses along with the simulation results indicate that the designed controller can successfully track the reference trajectories with high performance in different maneuver conditions.