Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies
| Autor: | Keqiang Li, Shengbo Eben Li, Francesco Borrelli, Yang Zheng, J. Karl Hedrick |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Lyapunov function
050210 logistics & transportation 0209 industrial biotechnology Computer science Node (networking) 05 social sciences 02 engineering and technology Network topology Optimal control Stability (probability) Vehicle dynamics symbols.namesake 020901 industrial engineering & automation Exponential stability Optimization and Control (math.OC) Control and Systems Engineering Control theory 0502 economics and business FOS: Mathematics symbols Platoon Electrical and Electronic Engineering Mathematics - Optimization and Control |
| Zdroj: | IEEE Transactions on Control Systems Technology. 25:899-910 |
| ISSN: | 1558-0865 1063-6536 |
| Popis: | This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically decoupled but constrained by spatial geometry. Each node is assigned a local open-loop optimal control problem only relying on the information of neighboring nodes, in which the cost function is designed by penalizing on the errors between predicted and assumed trajectories. Together with this penalization, an equality based terminal constraint is proposed to ensure stability, which enforces the terminal states of each node in the predictive horizon equal to the average of its neighboring states. By using the sum of local cost functions as a Lyapunov candidate, it is proved that asymptotic stability of such a DMPC can be achieved through an explicit sufficient condition on the weights of the cost functions. Simulations with passenger cars demonstrate the effectiveness of proposed DMPC. 12 pages, 4 figures, and 2 tables. Accepted in IEEE Transaction on Control Systems Technology |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|