Robust Distributed Model Predictive Control for Formation Tracking of Nonholonomic Vehicles

This letter proposes a robust distributed model predictive control (MPC) strategy for formation tracking of a group of wheeled vehicles subject to constraints and disturbances. Formation control has attracted significant interest because of its applications in searching and exploration [1], [2]. The objective of formation tracking is to achieve the reference formation via interactions among agents. In formation tracking, MPC can be applied to treat constrains. In [3], by sharing predictive information with neighbors, each agent uses distributed MPC strategy to generate the desired trajectory without any collision. Based on the leader-follower structure, a distributed MPC is proposed in [4] to mitigate effects caused by replay attacks. In [5], distributed MPC is applied to optimize energy scheduling.