Formation Control of Multiple Nonholonomic Robots with Input Constraints:MPC Scheme

In this paper, the predictive control(MPC) scheme is proposed to solve the formation problem for a class of non-holonomic mobile robots with input saturation. Firstly, the model of non-holonomic wheeled robots is constructed as a second-order system with input saturation. Secondly, a hierarchical decomposition method for the directed communication topology is developed to reduce computational and communication resource costs. Thirdly, a MPC protocol with input saturation is proposed and quadratic programming method is introduced to solve the proposed MPC problem. The effectiveness of the proposed algorithm is verified through two simulations.