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 (https://doi.org/10.1109/IROS.2005.1545536)

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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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