Distributed Robust Tracking Control of Multiple Mobile Robots Formation
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.
Zhenyu Du and Bin Liu
T. T. Yang et al., "Distributed Robust Tracking Control of Multiple Mobile Robots Formation", Applied Mechanics and Materials, Vol. 65, pp. 208-213, 2011