A Robust Distributed Receding Horizon Control Synthesis Approach For Simultaneous Tracking, Regulation And Formation Of Multiple Perturbed Wheeled Vehicles With Collision Avoidance

This article proposes a robust distributed receding horizon control (RDRHC) synthesis approach for the simultaneous tracking, regulation and formation of multiple perturbed wheeled vehicles with collision avoidance. By successfully extending a tube-based RHC approach proposed in our previous work and elaborately designing the collision avoidance and compatibility constraints, a nominal control optimization problem is constructed for each vehicle with recursive feasibility guarantee, and the associated RDRHC algorithms with and without on-line optimization are presented for implementation. By applying the presented algorithms, the multiple perturbed wheeled vehicles can be steered to achieve the desired tracking, regulation and formation objective with satisfying the pre-specified constraints and avoiding collision. Both theoretical properties and practical effectiveness of the proposed approach are verified through a simulation example.