Circuits, Systems, and Signal Processing

, Volume 38, Issue 7, pp 2951–2970 | Cite as

Tracking and Formation of Multi-agent Systems with Collision and Obstacle Avoidance Based on Distributed RHC

  • Yuanqing Yang
  • Baocang DingEmail author


This paper proposes a distributed receding horizon control approach for the formation and tracking problems of multi-agent systems with collision and obstacle avoidance. We design an algorithm to enlarge the terminal position sets of the agents in sequential order. Since the proposed approach is based on the synchronous framework, each agent must utilize the assumed predictive information of its neighbors. A compatibility constraint is reformulated for the local optimization, which restricts the deviation between the assumed and true predictive states. To ensure the safety of each agent, the deviation-dependent collision-avoidance constraint and the obstacle-avoidance constraint are designed. Moreover, the closed-loop multi-agent systems are guaranteed to be exponentially stable, and the control performance is improved compared with the previous approaches. A simulation example is provided to illustrate the advantages of the proposed approach.


Receding horizon control (RHC) Distributed control Multi-agent systems Collision avoidance Obstacle avoidance 



This work is supported by National Key R&D Program of China (No. 2017YFA0700300), by Natural Science Foundation of China (No. 61573269), by NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (No. U1509209).


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Automation, School of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’anChina

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