Since the beginning of mobile robotics that the issue of trajectory control has had a particular matter, especially when the robots are integrated into a high dynamic environment where it is required that they pursue a target at high speed, such as in the robot soccer. In this way, this thesis intends to explore this matter, evaluating the behaviour between three control structures to trajectory tracking. In a first step, the recative control is approched, implementing go to position and follow line trajectory tracking algorithms, where the error is cancelled by a PD controller tuned with the Bessel prototype. Next, it is implemented the non-linear model predictive control, using a simplified model of the system based on the acceleration ramp. All the controller were designed and tuned in the simulator SimTwo, after tunning the robot model parameters, by experimental methods and by approximation with numerical methods, so that the robot model was identical as possible to the real robot. Among all the controllers, it can be concluded that there is a clear advantage in using the model predictive control when the purpose it is to cancel the follow-up error. However, this also shows to be more computationally expensive, which can compromise the control problem when there are processing time restrictions.
