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Distributed robust control of multiple mobile robots formations via moving horizon strategy

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4 Author(s)
Tiantian Yang ; Dept. of Control Sci. & Eng., Harbin Inst. of Technol., China ; Zhiyuan Liu ; Hong Chen ; Run Pei

In this paper, a distributed robust control scheme is proposed for formation stabilization of noholonomic wheeled mobile robots (WMRs) with parametric uncertainty and actuator saturations. A quasi-LPV model is first established to describe the error dynamics of each WMR. For a given cost function, we generate distributed optimal control problems for each interacting robot whose error dynamics and constraints are uncoupled. In the framework of LMI optimization, a distributed moving horizon Hinfin control scheme is consequently formulated as on-line solving each constrained optimal problem synchronously at each sampling time. We also discuss the closed-loop properties inclusive of stability and Hinfin performance. Simulation is performed to highlight the effectiveness of the proposed distributed control law

Published in:

2006 American Control Conference

Date of Conference:

14-16 June 2006