two wheeled mobile robot model predictive control problem

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Welid Benchouche
Welid Benchouche on 6 Jan 2019
Edited: Welid Benchouche on 3 Feb 2022
hello
i'm attaching a simulink model predictive control for two wheeled mobile robot, i have [x, y, teta] outputs, my reference is [x,y,teta] for a circle and eight reference, double click the ref block to switch between them, 1 and 2, i don't know why doesn't it follow the ref, my (y) output is always null , please help
parameters
Rc=0.15;
k=0.05;
R=1;
L=0.5;
J=0.0025;
Mf=0.0005;
Rw=0.06;
  2 Comments
Welid Benchouche
Welid Benchouche on 3 Feb 2022
Hello Said
This file is long gone, it's been 3 years that i have posted this problem, i forgot if i have even solved it but i found another way which is using the toolboxes CasADi, Gekko or APmonitor to implement my MPCs, good luck

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