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Journal of Control Science and Engineering
Volume 2007 (2007), Article ID 51841, 10 pages
Research Article

Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

1Department of Control Science and Engineering, Harbin Institute of Technology, 92 West Dazhi Street, Harbin 150001, China
2Department of Control Science and Engineering, Jilin University, 2699 Qianjin Street, Changchun 130012, China

Received 30 March 2007; Accepted 28 June 2007

Academic Editor: Li Yu

Copyright © 2007 Tiantian Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles. First, a nonconvex optimization problem is introduced to generate the collision-free trajectory. If the robots tracking along the reference trajectory find themselves moving close to the obstacles, a new collision-free trajectory is generated automatically by solving the optimization problem. Then, a distributed control scheme is proposed to keep the robots tracking the reference trajectory. For each interacting robot, optimal control problem is generated. And in the framework of LMI optimization, a distributed moving horizon control scheme is formulated as online solving each optimal control problem at each sampling time. Moreover, closed-loop properties inclusive of stability and H performance are discussed. Finally, simulation is performed to highlight the effectiveness of the proposed control law.