Abstract 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.

中文翻译：

---

具有控制延迟的 WMR 系统的建模和优化跟踪控制

摘要 本文研究了具有控制延迟的轮式移动机器人系统的建模与跟踪控制问题。运动学轮式移动机器人 (WMR) 在非完整约束下建模。此外，还对 WMR 的状态空间表示和具有控制延迟的跟踪误差方程进行了建模。使用函数变换，将具有控制延迟的跟踪误差系统转换为无延迟的跟踪误差系统。然后，利用最大值原理得到包含控制记忆补偿项的最优控制律。通过仿真验证了所设计的控制器水平速度和角速度的有效性和实用性。