Feedforward Control System Development and Implementation for Longitudinal and Lateral Motion of a Four-Wheeled Robot

The work presented in this paper advances through a series of physics-based increasing fidelity models that are used to design robot controllers that respect the robot's capabilities. It also develops a reference simple controller that is applicable to a large subset of tracking conditions, most of which involve non-invasive or highly dynamic movements, defines path geometry in response to the control problem, and develops both a simple geometric control and a dynamic model predictive control approach. In this research, we propose the mathematical modeling of the longitudinal and lateral movements utilizing PID with a feed-forward controller for a nonlinear model with disturbance impact. A feed-forward controller is suggested in this work to get rid of the disturbance effect.