Modeling and Optimal Tracking Control for WMR Systems with Control Delay

This article studies the issue of modeling and tracking control for wheeled mobile robot systems with control delay. The kinematics wheeled mobile robot (WMR) is modeled under the nonholonomic constraint. Further, the state-space representations of WMR and tracking error equations with control delays are modeled. Using functional transformation, the tracking error system with control delay is converted into a delay-free one. Then, the optimal control law including a control memory compensation term is obtained by using Maximum Value Principle. The effectiveness and utility of the designed controllers, the horizontal speed and the angular speed, are verified in simulation.