Distributed switching predictive control for multiple mobile robots with intermittent communication
A distributed switching predictive control method is proposed for multi-robot formation with intermittent com-munication.Firstly,in order to reduce the communication cost,the switching topology strategy is described as in-termittent communication,and the multi-robot formation is modeled as a switching system model with path parame-ter synchronization constraints.For the nominal system,the sufficient conditions for the exponential stability of the nominal system and the design method of the stabilizing controller are given by using the distributed switching pre-dictive control method.For the path parameter synchronization constraint term,the design method of path parame-ter synchronization controller based on distributed predictive control is given by minimizing the cost function with path parameter synchronization constraint.Finally,the simulation verifies that the proposed algorithm can enable multiple mobile robots to complete the formation task under the condition of intermittent communication.
multiple mobile robotintermittent communicationswitched predictive controlformation control
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