Distributed robust predictive control for multiple mobile robots formation
This paper studies a formation control problem for multiple mobile robot systems with model uncertainty. The formation is achieved by a distributed robust predictive control algorithm. Firstly, a distributed model of the formation system is derived by using the path tracking error dynamic of single mobile robot. Considering the error of linearization and measurement error caused by the accelerometer and speed encoder, the distributed uncertain model of formation system is proposed. To ensure the closed-loop system asymptotically stable, a new cooperative distributed robust predictive algorithm is presented, and convex optimization problems are proposed to design the distributed predictive controllers which can be solved by linear matrix inequality technology. Finally, an example with three mobile robots is presented to demonstrated the effectiveness of the proposed method.