Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
Joint Authors
Yang, Panpan
Yan, Maode
Zuo, Lei
Ma, Wenrui
Source
Journal of Advanced Transportation
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-15
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In this paper, the vehicle platoon control problems for a group of heterogeneous vehicles are investigated, where the multiple constraints of the vehicles and the communication delays among the vehicles are taken into consideration.
A distributed model predictive control (DMPC) scheme is proposed to drive the heterogeneous vehicles into the desired platoon.
In this DMPC framework, the multiple constraints, including the control constraints, state constraints, and jerk constraints, are employed to describe the practical characteristics of vehicles and the communication delays are time-varying and bounded.
In this framework, a group of platoon control schemes is proposed based on the DMPC techniques.
Furthermore, the feasibility and stability of the proposed vehicle platoon control system are strictly analyzed.
Finally, numerical simulation and experiment with TurtleBot3 mobile robots are provided to validate the effectiveness of proposed approaches.
American Psychological Association (APA)
Yan, Maode& Ma, Wenrui& Zuo, Lei& Yang, Panpan. 2020. Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays. Journal of Advanced Transportation،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1175649
Modern Language Association (MLA)
Yan, Maode…[et al.]. Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays. Journal of Advanced Transportation No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1175649
American Medical Association (AMA)
Yan, Maode& Ma, Wenrui& Zuo, Lei& Yang, Panpan. Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays. Journal of Advanced Transportation. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1175649
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1175649