On the design of MPC using Laguerre functions for Formation Tracking Control of Multiple Wheeled Mobile Robots

摘要

In this paper, a Model Predictive Control (MPC) based on Laguerre functions is developed for leader-follower formation control of a team of Wheeled Mobile Robots (WMRs). A combined control strategy including both feedback linearization and linear MPC using Laguerre functions is implemented on multiple WMRs to achieve the intended formation mission. The nonlinear dynamics of each WMR are linearized using input-output feedback linearization method, and the linear MPC is applied to each linearized WMR model to achieve the desired formation mission. Finally, simulations are carried out to show the effectiveness of the suggested control method.