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This paper addresses the control design problem for nonlinear Wheeled Mobile Robot (WMR) tracking with sensor and control delays. The tracking model is built by WMR dynamical equation. The state-space representations of the controlled WMR motion system and the dynamical target system are obtained by transformations. Then, the tracking error system with sensor and control delays is achieved and a nonlinear tracking control is presented. The physical implement problem of the predictive control is solved by constructing a high-gain predictor, based on which the predicted states in state feedback control are replaced by the predictive ones. The simulation results demonstrate that the physical implement problem are solved by designing a high-gain predictor. The target paths of a figure-of-8 and a circle are successfully tracked by the state feedback and output feedback controllers.

Predictive Tracking Control for WMR Systems with Sensor and Control Delays