Project 9: Using Model Predictive Control for Mobile Robot Complex Trajectory following Apply Model Predictive Control (MPC) for mobile robot trajectory following. First assume the position of the robot is known all the time. For any desired trajectory and any initial robot position, design the control law of the robot such that the robot will follow the trajectory. Then assume the robot position/orientation estimation is noisy and you can only use the noisy estimate to construct the controller (add a small noise on the true robot position and orientation), then test the algorithm and evaluate the performance. The algorithm will be developed using simulations in MATLAB. The vehicle model (without noise) could be assumed as cos @ 0) =y'| sin@ |+v"| 0 0) l