Robust Distributed RHC for Perturbed Nonholonomic Multi-Vehicles

This paper proposes a robust distributed receding horizon control (RHC) synthesis approach for the simultaneous tracking, regulation and formation of perturbed nonholonomic multi-vehicles with collision avoidance. Based on a robust positively invariant (RPI) set designed in our previous work, we design the controller under the tube-based RHC framework, where an initial state constraint, a tightened input saturation constraint, a collision avoidance constraint, a compatibility constraint and a terminal state constraint are developed with appropriate properties and are incorporated into the optimization problem. By implementing the solution of the optimization problem with disturbance correction, the recursive feasibility of the optimization problem, the original input saturation of each vehicle, the collision avoidance between multi-vehicles, and the robust convergence of tracking and formation are guaranteed.