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A model predictive controller for robots to follow a virtual leader

Gu, D and Hu, H (2009) 'A model predictive controller for robots to follow a virtual leader.' Robotica, 27 (6). 905 - 913. ISSN 0263-5747

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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. © 2009 Cambridge University Press.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Clare Chatfield
Date Deposited: 28 Sep 2012 10:05
Last Modified: 23 Jan 2019 00:16

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