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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Official URL: https://doi.org/10.1109/IROS.2005.1545536

Abstract

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.

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Gu, Dongbing and Yang, Erfu

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Item metadata

Item type:	Book Section
ID code:	53324
Dates:	Date Event May 2005 Published
Keywords:	formation control, leader-following control model predictive control, nonholonomic mobile robots, feedback, linearisation techniques, mobile robots, optimal control, predictive control, stability, Electronic computers. Computer science, Artificial Intelligence, Computer Vision and Pattern Recognition, Human-Computer Interaction, Control and Systems Engineering
Subjects:	Science > Mathematics > Electronic computers. Computer science
Department:	Faculty of Engineering > Design, Manufacture and Engineering Management
Depositing user:	Pure Administrator
Date deposited:	09 Jun 2015 10:59
Last modified:	20 Jan 2021 15:43
Related URLs:	Scopus publication Journal or Publication
URI:	https://strathprints.strath.ac.uk/id/eprint/53324

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