Tube-Based Distributed Model Predictive Control for Connected Vehicle Platoons with Communication Delay

This paper studies the distributed longitudinal platoon control of connected vehicles in the presence of communication delays and external disturbances. We consider a group of connected vehicles that needs to maintain a constant distance within a bidirectional communication topology. The dynamics is...

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Bibliographic Details
Main Authors: Yi, Peng, Liao, Junyu, Zhao, Di
Format: Conference Proceeding
Language:English
Subjects:
comumunication delay
Connected vehicles
Delays
distributed control
Heuristic algorithms
model predictive control
Numerical simulation
Prediction algorithms
robust control
Robustness
Topology
Vehicle platoon
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Summary:This paper studies the distributed longitudinal platoon control of connected vehicles in the presence of communication delays and external disturbances. We consider a group of connected vehicles that needs to maintain a constant distance within a bidirectional communication topology. The dynamics is modeled using third-order vehicle dynamics, incorporating external disturbances. The problem is solved by a tube-based distributed model predictive control (MPC) algorithm that integrates the MPC optimization, consensus protocol and error feedback control. Each vehicle computes its formation control based on information from its neighbors and uses online MPC optimization to guarantee the control performance. Communication delays are mitigated by a compensatory method involving data buffering and state prediction. Both state compensation errors and external disturbances are collectively processed as overall disturbances using the tube-based method. The effectiveness and robustness of the proposed control strategy are demonstrated through numerical simulations.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10661443