Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed γ-gain stability.

This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC algorithm are designed in order to keep a platoon formation, and further to ensure neighbor γ-gain stability (which is a new notion proposed in this paper and generalizes the string stability). The sufficient conditions on ensuring closed-loop stability and neighbor γ-gain stability are established, respectively. Finally, simulation studies are provided to verify the theoretical results. It is shown that it is possible to achieve certain control performance (i.e.,  γ-gain stability) and keep a formation simultaneously for the nonlinear vehicle platoon using distributed RHC.