Distributed model predictive control of vehicle platoons under switching communication topologies

IF 1.6 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

IMA Journal of Mathematical Control and Information Pub Date : 2023-10-03 DOI:10.1093/imamci/dnad023

Liang Chen, Jingyuan Zhan, Liguo Zhang

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Abstract

Abstract This paper studies the control problem for vehicle platoons under switching communication topologies, where the Predecessor-Following (PF)-failure topology is allowed. Firstly, we design a local optimization problem for each vehicle by using the state information of itself and its neighbouring vehicles, and then present Algorithm 1 based on Distributed Model Predictive Control (DMPC). By constructing a common Lyapunov function defined by the joint neighbourhood set, we derive sufficient conditions with respect to the weight matrices in the open-loop optimization problem and the switching topologies for ensuring the stability of the closed-loop system under Algorithm 1. Furthermore, we propose Algorithm 2 by introducing novel constraints into the local optimization problem for each vehicle, which utilize shrinking historical position errors to cope with PF-link failures, such that the string stability of the vehicle platoon is ensured. Finally, numerical examples are presented to demonstrate the effectiveness of the proposed DMPC algorithms for the vehicel platoon under switching communication topologies.

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交换通信拓扑下车辆排的分布式模型预测控制

摘要研究了允许前继故障拓扑的交换通信拓扑下车辆队列的控制问题。首先，利用车辆自身和相邻车辆的状态信息，对每辆车设计一个局部优化问题，然后提出基于分布式模型预测控制(DMPC)的算法1。通过构造一个由联合邻域集定义的公共Lyapunov函数，我们得到了算法1下开环优化问题中权矩阵和切换拓扑保证闭环系统稳定性的充分条件。在此基础上，我们提出了算法2，将新的约束引入到每辆车的局部优化问题中，利用历史位置误差的缩小来应对pf链路故障，从而保证了车辆队列的串稳定性。最后，通过数值算例验证了该算法在交换通信拓扑下的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IMA Journal of Mathematical Control and Information 工程技术-应用数学

CiteScore

3.30

自引率

6.70%

发文量

审稿时长

>12 weeks

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