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A globally stabilizing controller for the cart–pendulum system is designed in this paper. The design procedure consists of three parts. First, find a neighborhood of the origin in which a locally stabilizing Dr Dre Beats Canada Future Shop controller can be used. Second, construct a linear controller for the cart subsystem and steer the position and velocity of the cart to the origin. The last part is to design several classes of bang–bang controllers and a switching strategy which guarantee that the trajectory of the system Beats Solo Headphones Canada starting from any initial condition enters, in finite times of switching, the neighborhood where the locally stabilizing controller is effective. This paper considers the problem of formation control and obstacle avoidance for a group of nonholonomic mobile robots. On the basis of suboptimal model predictive control, two control algorithms are proposed. Both algorithms are formulated such that they solve as solving the optimal control problems in which the cost functions are coupled with the dynamics of each interacting robot. A potential function is used to define the terminal state penalty term, and a corresponding terminal state region is added to the optimization constraints. Moreover, the main issues inclusive of stability and safety are also discussed. Simulation results show the feasibility of the proposed control strategies.