Work

Application of the SQP algorithm in leader–follower formation control

Year: 2025

Type: article

Abstract: This paper proposes the application of the Sequential Quadratic Programming (SQP) algorithm to control a group of omnidirectional mobile robots using the Leader-Follower model. The method includes predicting the group’s kinematics, formulating a distributed model predictive control (DMPC) problem with a cost function comprising components for formation maintenance, trajectory tracking, and collision avoidance. The cost function is then optimized in real time using the SQP algorithm. In simulations, Gaussian noise is introduced into the states and control signals to evaluate the method’s effectiveness under real-world deployment conditions.

Source: Journal of Military Science and Technology

DOI: 10.54939/1859-1043.j.mst.105.2025.11-19

Authors: Phu Tuan Duong, Tuấn Minh Nguyễn, Quang Vịnh Nguyễn

Institution: Thai Nguyen University of Technology

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W4414412523

FWCI: 0.879

Cites: 7

Cited by: 2

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