Robust Tracking Control of  Mobile Robot Formation with Obstacle Avoidance

Yang, Tiantian; Liu, Zhiyuan; Chen, Hong; Pei, Run

doi:https://doi.org/10.1155/2007/51841

Journal of Control Science and Engineering

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Research Article | Open Access

Volume 2007 | Article ID 051841 | https://doi.org/10.1155/2007/51841

Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance

Tiantian Yang,¹Zhiyuan Liu,¹Hong Chen,²and Run Pei¹

Academic Editor: Li Yu

Received30 Mar 2007

Accepted28 Jun 2007

Published14 Aug 2007

Abstract

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.

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Copyright

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.

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