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.
@article{arxiv.2301.09365,
title = {Modeling and Design of Longitudinal and Lateral Control System with a FeedForward Controller for a 4 Wheeled Robot},
author = {Younes El koudia and Jarou Tarik and Abdouni Jawad and Sofia El Idrissi and Elmahdi Nasri},
journal= {arXiv preprint arXiv:2301.09365},
year = {2023}
}