Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot

TL;DR

This paper presents a physics-based modeling approach and a control system design for a four-wheeled robot, incorporating a feedforward controller to mitigate disturbances and improve tracking performance.

Contribution

It introduces a novel combination of a simple geometric control and a dynamic model predictive control approach with a feedforward controller for disturbance rejection.

Findings

Effective disturbance mitigation using feedforward control.

Enhanced tracking accuracy in dynamic conditions.

Validated models through simulation or experiments.

Abstract

The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller applicable to a large subset of tracking conditions, which include mostly non-invasive or highly dynamic movements and define path geometry following the control problem and develop both a simple geometric control and a dynamic model predictive control approach. In this paper, we propose for a nonlinear model with disturbance effect, the mathematical modeling of the longitudinal and lateral movements using PID with a feed-forward controller. This study proposes a feedforward controller to eliminate the disturbance effect.