Abstract
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 constant distance between any two adjoining vehicles, and further to ensure neighbor string stability. The sufficient conditions on ensuring closed-loop stability and neighbor string stability are established, respectively. It is shown that the cooperations among vehicles are detrimental to the closed-loop stability, and thus the cooperation cannot be too strong in order to guarantee the closed-loop stability.
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