Distributed Model Predictive Control for Multi-Vehicle Formation with Collision Avoidance Constraints
Distributed Model Predictive Control for Multi-Vehicle Formation with Collision Avoidance Constraints
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DOI：
10.1109/cdc.2005.1583034
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
H. Fukushima;K. Kon;F. Matsuno
中科院分区：
文献类型：
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作者：
H. Fukushima;K. Kon;F. Matsuno
本文提出了一种针对具有避碰约束的独轮车信息的分布式模型预测控制（MPC）方法。所提方法首先利用反馈线性化来稳定系统，然后将一种基于MPC的避碰方法应用于线性化系统。所提方法的特点之一是每辆车在不同的时间步依次求解其最优控制问题。与其他MPC避碰方法中所有车辆在每个时间步都求解最优控制问题不同，在一个时间步只有一辆车能够求解其优化问题。我们推导出所提方法的一个条件，以确保优化方法的可行性和闭环系统的稳定性。该方法的有效性也通过实验进行了研究。
This paper presents a distributed model predictive control (MPC) method for unicycles information with collision avoidance constraints. The proposed method first stabilizes the system by using a feedback linearization, and then a collision avoidance method based on MPC is applied to the linearized system. One of the features of the proposed method is that each vehicle sequentially solves its optimal control problem at different time step. Unlike other MPC collision avoidance methods in which all vehicles solve optimal control problems at every time step, only one vehicle can solve its optimization problem at one time step. We derive a condition for the proposed method to ensure the feasibility of the optimization method and stability of the closed-loop system. The effectiveness of the method is also investigated by experiments.