Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance
Tiantian Yang, Zhiyuan Liu, Hong Chen, Run Pei · Journal of Control Science and Engineering · 2007
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.