Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays

Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays

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...

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Main Authors: Maode Yan, Wenrui Ma, Lei Zuo, Panpan Yang
Format: Article
Language:English
Published: Hindawi-Wiley 2020-01-01
Series:Journal of Advanced Transportation
Online Access:http://dx.doi.org/10.1155/2020/4657584
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spelling doaj-e6d29dfc66a047428d7b3c39262d0a5d2020-11-25T03:56:26ZengHindawi-WileyJournal of Advanced Transportation0197-67292042-31952020-01-01202010.1155/2020/46575844657584Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication DelaysMaode Yan0Wenrui Ma1Lei Zuo2Panpan Yang3School of Electronic and Control Engineering, Chang’an University, Xi’an, ChinaSchool of Electronic and Control Engineering, Chang’an University, Xi’an, ChinaSchool of Electronic and Control Engineering, Chang’an University, Xi’an, ChinaSchool of Electronic and Control Engineering, Chang’an University, Xi’an, ChinaIn 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.http://dx.doi.org/10.1155/2020/4657584
collection DOAJ
language English
format Article
sources DOAJ
author Maode Yan
Wenrui Ma
Lei Zuo
Panpan Yang
spellingShingle Maode Yan
Wenrui Ma
Lei Zuo
Panpan Yang
Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
Journal of Advanced Transportation
author_facet Maode Yan
Wenrui Ma
Lei Zuo
Panpan Yang
author_sort Maode Yan
title Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
title_short Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
title_full Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
title_fullStr Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
title_full_unstemmed Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays
title_sort distributed model predictive control for platooning of heterogeneous vehicles with multiple constraints and communication delays
publisher Hindawi-Wiley
series Journal of Advanced Transportation
issn 0197-6729
2042-3195
publishDate 2020-01-01
description 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.
url http://dx.doi.org/10.1155/2020/4657584
work_keys_str_mv AT maodeyan distributedmodelpredictivecontrolforplatooningofheterogeneousvehicleswithmultipleconstraintsandcommunicationdelays
AT wenruima distributedmodelpredictivecontrolforplatooningofheterogeneousvehicleswithmultipleconstraintsandcommunicationdelays
AT leizuo distributedmodelpredictivecontrolforplatooningofheterogeneousvehicleswithmultipleconstraintsandcommunicationdelays
AT panpanyang distributedmodelpredictivecontrolforplatooningofheterogeneousvehicleswithmultipleconstraintsandcommunicationdelays
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