Delayed Feedback MPC Algorithms of Vehicle Platoons Subject to Constraints on Measurement Range and Driving Behaviors

The control problem of vehicle platoons considering sensors with limited measurement range and actuator time delay is investigated in the face of constraints. A new delayed feedback model predictive control scheme is proposed to solve the problem while satisfying the constraints on measurement range...

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Bibliographic Details
Published in:Asian journal of control Vol. 20; no. 6; pp. 2260 - 2270
Main Authors: Yu, Shi‐Ming, Wu, Sai‐Nan, Zhao, Yun‐Bo, He, De‐Feng
Format: Journal Article
Language:English
Published: Hoboken Wiley Subscription Services, Inc 01.11.2018
Subjects:
adaptive cruise control
Computer simulation
Constraint modelling
constraints
Control stability
Feedback
model predictive control
Optimal control
Platooning
Predictive control
Rangefinding
string stability
Time lag
Vehicle platoons
ISSN:1561-8625, 1934-6093
Online Access:Get full text
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Summary:The control problem of vehicle platoons considering sensors with limited measurement range and actuator time delay is investigated in the face of constraints. A new delayed feedback model predictive control scheme is proposed to solve the problem while satisfying the constraints on measurement range and driving behaviors. A family of controllers is presented with free parameters which are then computed by online solving of a receding horizon optimal control problem. Terminal equality constraints are adopted to guarantee stability of the closed‐loop system. Some sufficient conditions with guaranteed string stability of the platoon and zero steady‐state error are established. The effectiveness and advantages of the presented method are demonstrated by simulating two classical road scenarios.
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ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.1761