Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed γ-gain stability

• Published in: Automatica (Oxford) Vol. 68; pp. 148 - 154
• Main Authors: Li, Huiping, Shi, Yang, Yan, Weisheng
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.06.2016
• Subjects: [formula omitted]-gain stability; Constraints; Distributed receding horizon control; Formation control; Nonlinear systems; γ-gain stability; Distributed receding horizon control; Formation control; Constraints; Nonlinear systems

This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC alg...