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A model predictive controller for robots to follow a virtual leader

Published online by Cambridge University Press:  19 January 2009

Dongbing Gu  and
Huosheng Hu
Dongbing Gu*
Affiliation:
School of Computer Science and Electronic Engineering, University of Essex, UK
Huosheng Hu
Affiliation:
School of Computer Science and Electronic Engineering, University of Essex, UK
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, we develop a model predictive control (MPC) scheme for robots to follow a virtual leader. The stability of this control scheme is guaranteed by adding a terminal state penalty to the cost function and a terminal state region to the optimization constraints. The terminal state region is found by analyzing the stability. Also a terminal state controller is defined for this control scheme. The terminal state controller is a virtual controller and is never used in the control process. Two virtual leader-following formation models are studied. Simulations on different formation patterns are provided to verify the proposed control strategy.

Keywords

Control of robotic systemsMobile robotsMulti-robot systemsRobot dynamicsNavigation
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 905 - 913
Copyright
Copyright © Cambridge University Press 2009

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