Paper Title:
Distributed Robust Tracking Control of Multiple Mobile Robots Formation
  Abstract

This paper presents a distributed robust formation tracking control scheme for a team of mobile robots with parametric uncertainties and input constraints. First for each interacting robot whose dynamics are uncoupled, distributed optimal control problems are introduced. Then a distributed robust moving horizon control scheme is consequently formulated as on-line solving each constrained optimal problem synchronously at each sampling time. The optimal control problem includes the initial state of the model employed in the problem as a decision variable. It is also shown that the proposed control scheme guarantees closed-loop stability. Simulation is performed to illustrate the proposed control law.

  Info
Periodical
Edited by
Zhenyu Du and Bin Liu
Pages
208-213
DOI
10.4028/www.scientific.net/AMM.65.208
Citation
T. T. Yang, Z. B. Su, J. Liu, H. Meng, "Distributed Robust Tracking Control of Multiple Mobile Robots Formation", Applied Mechanics and Materials, Vol. 65, pp. 208-213, 2011
Online since
June 2011
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