In this study, the control problem of trajectory tracking of mobile robots considering the difference between the center of mass and the geometric center is presented. In vehicles, sometimes the mass and geometric centers are not the same, which may be due to a load. In this case, the tracking error model is obtained for the first time. Then, this model is linearized around the reference trajectory. The control law consists of feedforward and feedback actions. The feedforward part is calculated from the reference trajectory, which leads to solving a complex differential equation. On the other hand, based on the linearized tracking error model, a model predictive controller is utilized to compute the feedback control part. Finally, the simulation results illustrate the modeling accuracy and efficiency of the proposed method.

中文翻译：

---

考虑重心位置的移动机器人轨迹跟踪控制

本研究提出了考虑质心与几何中心差异的移动机器人轨迹跟踪控制问题。在车辆中，有时质量和几何中心不相同，这可能是由于负载。在这种情况下，第一次得到了跟踪误差模型。然后，该模型围绕参考轨迹线性化。控制律由前馈和反馈动作组成。前馈部分是根据参考轨迹计算的，这导致求解一个复杂的微分方程。另一方面，基于线性化跟踪误差模型，利用模型预测控制器来计算反馈控制部分。最后，仿真结果说明了该方法的建模精度和效率。