Distributed model predictive control for nonholonomic multivehicle formation tracking

DOI10.1002/RNC.5734MaRDI QIDQ6082349zbMATH OpenOpenAlexFDO

Authors Kun Liu, Qi-Rui Zhang, Dongyu Han, Aoyun Ma, Yuanqing Xia

Publication date 29 November 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.5734

zbMATH Keywords

distributed model predictive controlformation trackingnonholonomic multivehicle systemsunicycle model

Mathematics Subject Classification ID

Multi-agent systems (93A16) Model predictive control (93B45) Discrete-time control/observation systems (93C55) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• An Optimization-Based Cooperative Path-Following Framework for Multiple Robotic Vehicles
• Constrained model predictive control: Stability and optimality
• Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory
• Distributed Model Predictive Control of Spatially Interconnected Systems Using Switched Cost Functions
• Distributed Receding Horizon Control of Vehicle Platoons: Stability and String Stability
• Distributed RHC for Tracking and Formation of Nonholonomic Multi-Vehicle Systems
• Finite-time formation control of multiple nonholonomic mobile robots
• Finite-time formation tracking control for multiple vehicles: a motion planning approach
• Pursuit formations of unicycles
• Robust Self-Triggered MPC With Adaptive Prediction Horizon for Perturbed Nonlinear Systems

Cited in

(10)

• Distributed model predictive control over multiple groups of vehicles in highway intelligent space for large scale system
• Distributed implementation of nonlinear model predictive control for AUV trajectory tracking
• Distributed Circular Formation Control of Nonholonomic Vehicles Without Direct Distance Measurements
• Distributed formation tracking of nonholonomic autonomous vehicles via event-triggered and sampled-data method
• Distributed Model Predictive Control for Tracking: A Coalitional Clustering Approach
• Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems
• Online learning-based event-triggered model predictive control with shrinking prediction horizon for perturbed nonlinear systems
• Self-triggered distributed model predictive control via path parameter synchronization
• Triggering and control codesign in robust self-triggered DMPC for trajectory tracking control of multi-USV system
• Distributed receding horizon control for multi-vehicle formation stabilization

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