Linear model predictive control via feedback linearization for formation control of multiple wheeled mobile robots

摘要

This paper investigates the formation control of multiple differentially driven wheeled mobile robots (WMRs) based on the kinematic model and the leader-follower approach. A combination of linear model predictive control and input-output feedback linearization is implemented on a team of WMRs in order to accomplish a formation task. The linear model of each robot with nonlinear dynamics is found through feedback linearization, while model predictive control is applied to the linear model to perform the formation control. Stability analysis is proven, and simulation results are presented in order to demonstrate the performance of the proposed algorithm.