Distributed MPC-Based String Stable Platoon Control of Networked Vehicle Systems
Jian‐Ge Wang, Xiaolei Li, Ju H. Park, Ge Guo
Abstract
In this paper, the string stable platoon control problem of discrete-time networked vehicle systems is considered by using distributed model predictive control (MPC) based method. An optimization problem is established to minimize the cost function associated to the system trajectories. The last-step shifting method is applied to set the local optimal solution as the assumed solution and send it to the neighbor vehicles. By using the sum of the cost function as Lyapunov function, the stability of the closed-loop platoon system is studied. Comparing with existing results, the string stability, which is the unique characteristics of the platoon system, is guaranteed under the bidirectional-based structure as well as the predecessor-follower-based information flow structure. Finally, several simulations are presented to demonstrate the effectiveness of the proposed algorithms.