Distributed Robust Tracking Control of Multiple Mobile Robots Formation

Abstract:

Article Preview

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

Online since:

June 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.