Distributed Robust Tracking Control of Multiple Mobile Robots Formation

Tian Tian Yang; Zhi Bao Su; Jin Liu; Hong Meng

doi:10.4028/www.scientific.net/AMM.65.208

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 65Distributed Robust Tracking Control of Multiple...

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.