Synchronous Distributed Receding Horizon Control for Formation of Nonholonomic Multi-Vehicle Systems

A synchronous distributed receding horizon controller is proposed for the formation of the nonholonomic multivehicle systems in this paper. The existence of nonholonomic constraints leads to the loss of controllability when the error converges to zero. Firstly, a predictive position consistency term is added to optimal controller cost function to punish the deviation of the actual position from the assumed position. Secondly, the iterative feasibility and stability of the multi-vehicle system is guaranteed by designing an auxiliary controller with an invariant terminal region. Finally, experiments are proposed to verify the feasibility of this control strategy.