A Smith predictor based generalized predictive controller for mobile robot path-tracking

This paper presents the application of a Smith predictor based generalized predictive controller (SPGPC) to the path-traking problem of a mobile robot. The equivalence between the generalized predictive controller (GPC) and a structure composed by an optimal predictor and a classical controller is given and it is shown that using a Smith predictor instead of an optimal predictor, increases the robustness of the system. Some results concerning the influence of the new predictor structure on the closed loop robustness are presented. Simulation and experimental tests carried out on a Labmate mobile robot validate the performance of the proposed strategy. Copyright (C) 1998 IFAC.