A suboptimal model predictive formation control

Dongbing Gu, Erfu Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

12 Citations (Scopus)


We investigate the leader-following formation control of mobile robots through the Model Predictive Control (MPC) in this paper. We establish its control stability by adding a terminal state penalty to the cost function and a terminal state region to the optimisation constraints. We also design a terminal state region based on an input-output feedback linearisation controller for the MPC. A suboptimal stable solution is sought to reduce the computational time used in the MPC. Simulations on the control are provided to verify the proposed control strategy.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of PublicationPiscataway, NJ.
Number of pages6
ISBN (Print)0780389123
Publication statusPublished - May 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, United Kingdom
Duration: 2 Aug 20056 Aug 2005


ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryUnited Kingdom
CityEdmonton, AB


  • formation control
  • leader-following control model predictive control
  • nonholonomic mobile robots
  • feedback
  • linearisation techniques
  • mobile robots
  • optimal control
  • predictive control
  • stability

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