A suboptimal model predictive formation control

Gu, Dongbing and Yang, Erfu; (2005) A suboptimal model predictive formation control. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, GBR, pp. 1295-1300. ISBN 0780389123

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We investigate the leader-following formation control of mobile robots through the Model Predictive Control (MPC) in this paper. We establish its control stability by adding a terminal state penalty to the cost function and a terminal state region to the optimisation constraints. We also design a terminal state region based on an input-output feedback linearisation controller for the MPC. A suboptimal stable solution is sought to reduce the computational time used in the MPC. Simulations on the control are provided to verify the proposed control strategy.


Gu, Dongbing and Yang, Erfu ORCID logoORCID: https://orcid.org/0000-0003-1813-5950;