Formation Control of Multiple Mobile Robots Based on Iterative Learning Distributed Model Predictive Control
Wei Shang,
Meng Liu,
Daode Zhang
et al.
Abstract:This paper proposes an iterative learning distributed model predictive control (ILDMPC) to control the formation of multiple mobile robots under uncertainty. Specifically, we design a general performance index constructed from the system's state variables and coupling parameters to replace the traditional cost function, promoting the system's control efficiency and the ability to seek the optimal solution. Furthermore, when dealing with and calculating the robot information, such as state variables and couplin… Show more
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