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

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 H/sub /spl infin// 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 H/sub /spl infin// performance. Simulation is performed to highlight the effectiveness of the proposed distributed control law.