Abstract
In this paper, the vehicle platoon control problems for a group of heterogeneous vehicles are investigated, where the multiple constraints of the vehicles and the communication delays among the vehicles are taken into consideration. A distributed model predictive control (DMPC) scheme is proposed to drive the heterogeneous vehicles into the desired platoon. In this DMPC framework, the multiple constraints, including the control constraints, state constraints, and jerk constraints, are employed to describe the practical characteristics of vehicles and the communication delays are time-varying and bounded. In this framework, a group of platoon control schemes is proposed based on the DMPC techniques. Furthermore, the feasibility and stability of the proposed vehicle platoon control system are strictly analyzed. Finally, numerical simulation and experiment with TurtleBot3 mobile robots are provided to validate the effectiveness of proposed approaches.
Highlights
In recent years, since the dramatic increase of vehicles and the inferiority of human drivers, much more attention has been paid to the traffic problems [1,2,3]
On-board cameras or laser sensors are used to measure the velocity, distance, and position of the surrounding vehicles and the vehicles in the platoon can cooperate with others via vehicleto-vehicle (V2V) communication [5]. en, various control techniques have been considered in the literature, including consensus-based control, sliding mode control, and model predictive control
In [7], the distributed adaptive control strategies based on the integral sliding mode control (ISMC) technique are proposed to maintain a rigid formation for a string of vehicle platoon in one dimension
Summary
Since the dramatic increase of vehicles and the inferiority of human drivers, much more attention has been paid to the traffic problems (e.g., traffic congestion, road accidents, and air pollution) [1,2,3]. In [20], a one-horizon model predictive control problem subject to acceleration, speed, and safety distance constraints is investigated for a platoon of connected autonomous vehicles These results mainly consider one or two constraints in their control strategies. Due to the hardware limitations or the network congestion, the communication delays may inhibit the designed control strategies and render the results invalid To this end, a consensus-based control algorithm is implemented in the cooperative vehicle platoon system, where the impact of the heterogeneous V2V communication delay on the system performance is theoretically studied in [24]. (i) A delay-involved DMPC strategy is proposed for the discrete-time vehicle platoon control problem subject to multiple constraints and communication delays. Given matrix Q, λ(Q) and λ(Q) represent the minimum and maximum of the absolute values of the eigenvalues for Q
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