TY - GEN
T1 - Lyapunov-based Model Predictive Control for the tracking of Nonholonomic Vehicle
AU - Tang, Jia
AU - Zhang, Baihai
AU - Chai, Sen Chun
N1 - Publisher Copyright:
© 2023 Technical Committee on Control Theory, Chinese Association of Automation.
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
UR - http://www.scopus.com/inward/record.url?scp=85175525334&partnerID=8YFLogxK
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 -