Distributed model predictive control for nonholonomic multivehicle formation tracking

A distributed model predictive control strategy is proposed for the formation tracking problem of nonholonomic multivehicle systems, where each vehicle is modeled as a unicycle and is affected by disturbances. We design the optimization problems that followers need to solve, and the cooperation among the followers are achieved by the coupling costs between the followers. Meanwhile, the tightened constraints are used to ensure the actual tracking errors satisfy the constraints. The recursive feasibility of the optimization problems and the closed-loop stability of the tracking error systems are established. Finally, the effectiveness of the proposed strategy is verified via an example which contains three followers.