Predictive Control Applied to 5DPO - RoboCup Middle-size Omnidirectional Robots

This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of the Middle-size Omnidirectional Robots from the 5DPO Robotic Soccer team. The strategy proposed uses methods of numerical optimization to perform real time nonlinear minimization of the cost function. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.