Non-Linear Prediction Scheme for an Omnidirectional Mobile Robot with Disturbed Time Delay

Abstract

This work focuses on the trajectory tracking problem of an input-delayed omnidirectional mobile robot affected by a constant disturbance in the time delay. The trajectory-tracking solution is based on a prediction strategy that represents a generalization of the well-known sub-prediction strategy developed for the linear case. It is formally proven that the prediction scheme provides the future state of the system and that a feedback law based on the future predicted state solves the trajectory tracking problem under some assumptions related to the size of the disturbance and the number of sub-predictors considered. To evaluate the prediction-based strategy, numerical simulations are carried out showing an adequate performance of the overall closed-loop system.