{"title":"Self-triggered distributed economic MPC for asynchronous vehicle platoon with communication delays and external disturbances","authors":"Maode Yan , Changyang Deng , Lei Zuo , Lingbo Li","doi":"10.1016/j.jfranklin.2025.107803","DOIUrl":null,"url":null,"abstract":"<div><div>This paper investigates the asynchronous vehicle platoon control problems with communication delays and external disturbances, in which fuel economy and communication resources are taken into consideration. To address these challenges, a self-triggered distributed economic model predictive control (SDEMPC) algorithm with a distributed disturbance observer is proposed for the platoon system. First, a distributed disturbance observer is introduced to actively alleviate the negative effects of disturbances. To ensure adherence to physical constraints, a tightened control input constraint is derived from disturbance estimation information. Next, a dual-layer optimization problem with robustness and tracking stability constraints is formulated for the disturbance-compensated platoon system. On this basis, the fuel economy can be improved while achieving the desired platoon formation. Then, an asynchronous self-triggered scheduler with a lengthened sequence strategy is designed to effectively reduce communication frequency and coordinate asynchronous communication with delays between vehicles. Subsequently, the recursive feasibility of the proposed algorithm and the closed-loop stability of the platoon system are strictly analyzed. Finally, numerical simulations are presented to verify the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107803"},"PeriodicalIF":4.2000,"publicationDate":"2025-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003225002960","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper investigates the asynchronous vehicle platoon control problems with communication delays and external disturbances, in which fuel economy and communication resources are taken into consideration. To address these challenges, a self-triggered distributed economic model predictive control (SDEMPC) algorithm with a distributed disturbance observer is proposed for the platoon system. First, a distributed disturbance observer is introduced to actively alleviate the negative effects of disturbances. To ensure adherence to physical constraints, a tightened control input constraint is derived from disturbance estimation information. Next, a dual-layer optimization problem with robustness and tracking stability constraints is formulated for the disturbance-compensated platoon system. On this basis, the fuel economy can be improved while achieving the desired platoon formation. Then, an asynchronous self-triggered scheduler with a lengthened sequence strategy is designed to effectively reduce communication frequency and coordinate asynchronous communication with delays between vehicles. Subsequently, the recursive feasibility of the proposed algorithm and the closed-loop stability of the platoon system are strictly analyzed. Finally, numerical simulations are presented to verify the effectiveness of the proposed algorithm.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.