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Dual-mode Distributed Model Predictive Control for Platooning of Connected Vehicles with Nonlinear Dynamics

Maode Yan*, Wenrui Ma, Lei Zuo, and Panpan Yang
International Journal of Control, Automation, and Systems, vol. 17, no. 12, pp.3091-3101, 2019

Abstract : This paper presents a dual-mode distributed model predictive control (DMPC) strategy for the platooning of connected vehicles with nonlinear dynamics. A third-order nonlinear model is employed to describe the dynamic characteristics of vehicles. In order to deal with the system nonlinearity and enhance the control precision, a DMPC based optimization problem is formulated for the vehicle platoon control, in which the nonlinear dynamics and the input boundaries are both considered as its constraints. Then, a dual-mode structure with the control scheme from the optimization and a local state feedback controller is proposed to drive the vehicles to the desired platoon. Comparing with other vehicle platoon algorithms, the proposed dual-mode DMPC strategy can significantly reduce the computational burden and save communication resources. Furthermore, the iterative feasibility and the stability of proposed control system are strictly analyzed. In final, numerical simulations are provided to validate the effectiveness of the proposed approaches.

Keyword : Distributed model predictive control, dual-mode structure, nonlinear dynamics, vehicle platoon

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