摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2023 42nd Chinese Control Conference, CCC 2023 |
| 出版商 | IEEE Computer Society |
| 页 | 587-592 |
| 页数 | 6 |
| ISBN（电子版） | 9789887581543 |
| DOI | |
| 出版状态 | 已出版 - 2023 |
| 活动 | 42nd Chinese Control Conference, CCC 2023 - Tianjin, 中国 期限: 24 7月 2023 → 26 7月 2023 |
出版系列
| 姓名 | Chinese Control Conference, CCC |
|---|---|
| 卷 | 2023-July |
| ISSN（印刷版） | 1934-1768 |
| ISSN（电子版） | 2161-2927 |
会议
| 会议 | 42nd Chinese Control Conference, CCC 2023 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Tianjin |
| 时期 | 24/07/23 → 26/07/23 |
指纹
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Tang, J., Zhang, B., & Chai, S. C. (2023). Lyapunov-based Model Predictive Control for the tracking of Nonholonomic Vehicle. 在 2023 42nd Chinese Control Conference, CCC 2023 (页码 587-592). (Chinese Control Conference, CCC; 卷 2023-July). IEEE Computer Society. https://doi.org/10.23919/CCC58697.2023.10239996