NDLI: Distributed RHC for Tracking and Formation of Nonholonomic Multi-Vehicle Systems

Content Provider	IEEE Xplore Digital Library
Author	Peng Wang Baocang Ding
Copyright Year	1963
Abstract	This paper considers the synchronous distributed receding horizon control (RHC) for a general problem of the nonholonomic multi-vehicle systems, i.e., the simultaneous forward/backward tracking, regulation and formation with the collision avoidance. First, for each vehicle, a positively invariant terminal-state region and an auxiliary controller are developed. When every vehicle lies in its terminal-state region, all the distributed control targets are achieved by the auxiliary controller. Second, the compatibility constraint, restricting the norm of the uncertain deviation between the assumed and actual predictive trajectories of each vehicle, is given, which respects both the collision avoidance and convergence guarantee. Thirdly, a robust collision avoidance constraint tolerating for the uncertain deviation is designed. By these designs, an overall control algorithm is proposed, by applying which all the control targets are achieved. Two illustrative examples are provided to show the advantage and effectiveness of the proposed approach.
Sponsorship	IEEE Control Systems Society
Starting Page	1439
Ending Page	1453
Page Count	15
File Size	1239326
File Format	PDF
ISSN	00189286
Volume Number	59
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Collision avoidance Trajectory Optimization Nickel Convergence Vehicle dynamics nonholonomic multi-vehicles compatibility constraint distributed receding horizon control (DRHC)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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