Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot

This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented architecture is organized into three hierarchical laye...

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Detalles Bibliográficos
Autores: Villalba-Aguilera, Elena, Blesa, Joaquim, Ponsa Asensio, Pere
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2025
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:dnet:digitalcsic_::a3461b596845cf88554d7317fc25dcc0
Acceso en línea:http://hdl.handle.net/10261/427834
https://api.elsevier.com/content/abstract/scopus_id/105009252338
Access Level:acceso abierto
Palabra clave:Model-based predictive control
Motion control
Multilayer architecture
Position and orientation tracking
Three-wheeled omnidirectional mobile robot
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spelling Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile RobotVillalba-Aguilera, ElenaBlesa, JoaquimPonsa Asensio, PereModel-based predictive controlMotion controlMultilayer architecturePosition and orientation trackingThree-wheeled omnidirectional mobile robotThis paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented architecture is organized into three hierarchical layers to support modularity and system scalability. The upper layer is responsible for trajectory planning. This planned trajectory is forwarded to the intermediate layer, where the MPC computes the optimal velocity commands to follow the reference path, taking into account the kinematic model and actuator constraints of the robot. Finally, these velocity commands are processed by the lower layer, which uses three independent PID controllers to regulate the individual wheel speeds. To evaluate the proposed control scheme, it was implemented in MATLAB R2024a using a lemniscate trajectory as the reference. The MPC problem was formulated as a quadratic optimization problem that considered the three states: the global position coordinates and orientation angle. The simulation included state estimation errors and motor dynamics, which were experimentally identified to closely match real-world behavior. The simulation and experimental results demonstrate the capability of the MPC to track the lemniscate trajectory efficiently. Notably, the close agreement between the simulated and experimental results validated the fidelity of the simulation model. In a real-world scenario, the MPC controller enabled simultaneous regulation of both the position and orientation, which offered a greater performance compared with approaches that assume a constant orientation.The corresponding first author gratefully acknowledges the financial support provided by Universitat Politècnica de Catalunya and Banco Santander through the predoctoral FPI-UPC grant.Peer reviewedMultidisciplinary Digital Publishing InstituteUniversitat Politècnica de CatalunyaBanco SantanderBlesa, Joaquim [0000-0002-5626-3753]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202620262025info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttps://www.iana.org/assignments/media-types/application/pdfhttp://hdl.handle.net/10261/427834https://api.elsevier.com/content/abstract/scopus_id/105009252338reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttps://doi.org/10.3390/robotics14060072Síinfo:eu-repo/semantics/openAccessoai:dnet:digitalcsic_::a3461b596845cf88554d7317fc25dcc02026-05-22T06:33:51Z
dc.title.none.fl_str_mv Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
title Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
spellingShingle Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
Villalba-Aguilera, Elena
Model-based predictive control
Motion control
Multilayer architecture
Position and orientation tracking
Three-wheeled omnidirectional mobile robot
title_short Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
title_full Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
title_fullStr Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
title_full_unstemmed Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
title_sort Model-Based Predictive Control for Position and Orientation Tracking in a Multilayer Architecture for a Three-Wheeled Omnidirectional Mobile Robot
dc.creator.none.fl_str_mv Villalba-Aguilera, Elena
Blesa, Joaquim
Ponsa Asensio, Pere
author Villalba-Aguilera, Elena
author_facet Villalba-Aguilera, Elena
Blesa, Joaquim
Ponsa Asensio, Pere
author_role author
author2 Blesa, Joaquim
Ponsa Asensio, Pere
author2_role author
author
dc.contributor.none.fl_str_mv Universitat Politècnica de Catalunya
Banco Santander
Blesa, Joaquim [0000-0002-5626-3753]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Model-based predictive control
Motion control
Multilayer architecture
Position and orientation tracking
Three-wheeled omnidirectional mobile robot
topic Model-based predictive control
Motion control
Multilayer architecture
Position and orientation tracking
Three-wheeled omnidirectional mobile robot
description This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented architecture is organized into three hierarchical layers to support modularity and system scalability. The upper layer is responsible for trajectory planning. This planned trajectory is forwarded to the intermediate layer, where the MPC computes the optimal velocity commands to follow the reference path, taking into account the kinematic model and actuator constraints of the robot. Finally, these velocity commands are processed by the lower layer, which uses three independent PID controllers to regulate the individual wheel speeds. To evaluate the proposed control scheme, it was implemented in MATLAB R2024a using a lemniscate trajectory as the reference. The MPC problem was formulated as a quadratic optimization problem that considered the three states: the global position coordinates and orientation angle. The simulation included state estimation errors and motor dynamics, which were experimentally identified to closely match real-world behavior. The simulation and experimental results demonstrate the capability of the MPC to track the lemniscate trajectory efficiently. Notably, the close agreement between the simulated and experimental results validated the fidelity of the simulation model. In a real-world scenario, the MPC controller enabled simultaneous regulation of both the position and orientation, which offered a greater performance compared with approaches that assume a constant orientation.
publishDate 2025
dc.date.none.fl_str_mv 2025
2026
2026
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/427834
https://api.elsevier.com/content/abstract/scopus_id/105009252338
url http://hdl.handle.net/10261/427834
https://api.elsevier.com/content/abstract/scopus_id/105009252338
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://doi.org/10.3390/robotics14060072
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv https://www.iana.org/assignments/media-types/application/pdf
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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