Robust Tracking Control ofMobile Robot Formation with Obstacle Avoidance

[摘要] 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 closeto 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 trackingthe reference trajectory. For each interacting robot, optimal control problem is generated. And in the framework of LMI optimization, a distributed moving horizon controlscheme is formulated as online solving each optimal control problem at each sampling time. Moreover, closed-loop properties inclusive of stability andH∞performance are discussed. Finally, simulation is performed to highlight the effectiveness of the proposed control law.

[学科分类] 计算机科学（综合）