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

Jia Tang; Baihai Zhang; Sen Chun Chai

doi:10.23919/CCC58697.2023.10239996

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

Jia Tang, Baihai Zhang^*, Sen Chun Chai

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2023 42nd Chinese Control Conference, CCC 2023
Publisher	IEEE Computer Society
Pages	587-592
Number of pages	6
ISBN (Electronic)	9789887581543
DOIs	https://doi.org/10.23919/CCC58697.2023.10239996
Publication status	Published - 2023
Event	42nd Chinese Control Conference, CCC 2023 - Tianjin, China Duration: 24 Jul 2023 → 26 Jul 2023

Publication series

Name	Chinese Control Conference, CCC
Volume	2023-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	42nd Chinese Control Conference, CCC 2023
Country/Territory	China
City	Tianjin
Period	24/07/23 → 26/07/23

Keywords

Backstepping Technology
Distributed Model Predictive control
Nonholonomic Multi-Vehicle

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10.23919/CCC58697.2023.10239996

Cite this

Tang, J., Zhang, B., & Chai, S. C. (2023). Lyapunov-based Model Predictive Control for the tracking of Nonholonomic Vehicle. In 2023 42nd Chinese Control Conference, CCC 2023 (pp. 587-592). (Chinese Control Conference, CCC; Vol. 2023-July). IEEE Computer Society. https://doi.org/10.23919/CCC58697.2023.10239996

@inproceedings{4b22bac6c9eb430091d2973aece10aed,

title = "Lyapunov-based Model Predictive Control for the tracking of Nonholonomic Vehicle",

abstract = "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.",

keywords = "Backstepping Technology, Distributed Model Predictive control, Nonholonomic Multi-Vehicle",

author = "Jia Tang and Baihai Zhang and Chai, {Sen Chun}",

note = "Publisher Copyright: {\textcopyright} 2023 Technical Committee on Control Theory, Chinese Association of Automation.; 42nd Chinese Control Conference, CCC 2023 ; Conference date: 24-07-2023 Through 26-07-2023",

year = "2023",

doi = "10.23919/CCC58697.2023.10239996",

language = "English",

series = "Chinese Control Conference, CCC",

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AU - Tang, Jia

AU - Zhang, Baihai

AU - Chai, Sen Chun

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Backstepping Technology

KW - Distributed Model Predictive control

KW - Nonholonomic Multi-Vehicle

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U2 - 10.23919/CCC58697.2023.10239996

DO - 10.23919/CCC58697.2023.10239996

M3 - Conference contribution

AN - SCOPUS:85175525334

T3 - Chinese Control Conference, CCC

SP - 587

EP - 592

BT - 2023 42nd Chinese Control Conference, CCC 2023

PB - IEEE Computer Society

T2 - 42nd Chinese Control Conference, CCC 2023

Y2 - 24 July 2023 through 26 July 2023

ER -

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

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