Distributed Receding Horizon Formation Control for Multi-Vehicle Systems with Relative Model

In this paper, a new distributed receding horizon formation control scheme is introduced using relative dynamical model instead of absolute dynamical model of each member robot in most existing formation control algorithms. Convergence of the proposed distributed receding horizon formation control (DRHFC) is implemented using some additional control input constraints, and the relative dynamical model is used to relieve the performance degradation due to huge computational burden and heavy measurement noises. In order to verify the feasibility and validity of the proposed algorithm, a simulation is conducted and compared to the formation control with absolute dynamical models.