In this article, event-triggered model predictive control is used for simultaneous tracking and formation of a multi-vehicle system with collision avoidance and obstacle avoidance. An event-triggered mechanism is established to reduce computational burden in the model predictive control strategy. A compatibility constraint is proposed to guarantee collision avoidance and convergence for the multi-vehicle system by limiting an uncertainty deviation of each vehicle. Between each vehicle and obstacles, a safe distance is ensured by a robust obstacle avoidance constraint. Finally, effectiveness and advantages of the proposed strategy are shown by two simulation examples.

中文翻译：

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具有避碰避障的多车系统的事件触发模型预测控制

在本文中，事件触发模型预测控制用于同时跟踪和形成具有避撞和避障的多车辆系统。建立事件触发机制以减少模型预测控制策略中的计算负担。提出了兼容性约束，通过限制每辆车的不确定性偏差来保证多车系统的碰撞避免和收敛。每个车辆与障碍物之间，通过鲁棒的避障约束确保安全距离。最后，通过两个仿真实例展示了所提出策略的有效性和优势。