TY - GEN
T1 - Tube-based Distributed Model Predictive Control for Heterogeneous Vehicle Platoons via Convex Optimization
AU - Sun, Hao
AU - Dai, Li
AU - Chen, Boli
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Connected and autonomous driving technology is a current research hotspot, which can effectively ease transportation congestion and enhance road safety. This paper addresses the control problem of heterogeneous vehicle platoons subject to various disturbances, including but not limited to modeling and measurement disturbances. The problem is approached by a tube-based distributed model predictive control (MPC) algorithm that relies on a unidirectional predecessor-following communication topology. To improve the computational efficiency of the algorithm, the inherently nonlinear MPC problem is formulated as a convex program in the spatial domain by coordination changes and suitably relaxing the nonconvex constraints. Numerical simulation examples are carried out to show the effectiveness and robustness of the proposed control algorithm.
AB - Connected and autonomous driving technology is a current research hotspot, which can effectively ease transportation congestion and enhance road safety. This paper addresses the control problem of heterogeneous vehicle platoons subject to various disturbances, including but not limited to modeling and measurement disturbances. The problem is approached by a tube-based distributed model predictive control (MPC) algorithm that relies on a unidirectional predecessor-following communication topology. To improve the computational efficiency of the algorithm, the inherently nonlinear MPC problem is formulated as a convex program in the spatial domain by coordination changes and suitably relaxing the nonconvex constraints. Numerical simulation examples are carried out to show the effectiveness and robustness of the proposed control algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85141833718&partnerID=8YFLogxK
U2 - 10.1109/ITSC55140.2022.9922439
DO - 10.1109/ITSC55140.2022.9922439
M3 - Conference contribution
AN - SCOPUS:85141833718
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 1122
EP - 1127
BT - 2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022
Y2 - 8 October 2022 through 12 October 2022
ER -