White Paper: Robustness Issues in Fault Diagnosis and Fault Tolerant Control
We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturationsin the environment with obstacles. First, a nonconvex optimization problem is introduced to generate the collision-freetrajectory. If the robots tracking along the reference trajectory find themselves moving close to the obstacles, a new collision-freetrajectory is generated automatically by solving the optimization problem. Then, a distributed control scheme is proposed to keepthe robots tracking the reference trajectory. For each interacting robot, optimal control problem is generated. And in the frameworkof LMI optimization, a distributed moving horizon control scheme is formulated as online solving each optimal controlproblem at each sampling time.Moreover, closed-loop properties inclusive of stability and H∞ performance are discussed. Finally, simulation is performed to highlight the effectiveness of the proposed control law.