Lyapunov-based Model Predictive Control for the tracking of Nonholonomic Vehicle

This paper proposed a Lyapunov-based distributed model predictive control (DLMPC) for nonholonomic multi-vehicle trajectory tracking and formation control. To guarantee the global asymptotic stability of the followers and to further guarantee the local asymptotic stability of the entire formation, it design the auxiliary controller by backstepping technology based on its related Lyapunov function. Though combining the optimization controller with the auxiliary controller, a compound controller is presented. Finally, the efficiency of the proposed approaches is verified by simulation and experiment.