Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Table 2

Velocity calibration of mobile robot.

Desired velocity (m/s)	Before calibration		After calibration
	(m/s)	Error (%)	(m/s)	Error (%)
0.1	0.0808	19.2	0.0947	5.3
0.2	0.1573	21.4	0.1917	4.2
0.3	0.2397	20.1	0.2869	4.4