文章基本信息

标题：A recursively feasible distributed robust MPC algorithm for vehicle platooning
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作者：Shengling Shi ; Mircea Lazar
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：23
页码：112-117
DOI：10.1016/j.ifacol.2018.12.020
语种：English
出版社：Elsevier
摘要：AbstractThis paper considers the design of a feedback robust model predictive control (MPC) algorithm for vehicle platooning. A vehicle platoon is modeled by individual simplified longitudinal dynamics which are coupled through the input of preceding vehicles. The coupled input is regarded as a disturbance and the framework of robust MPC proposed by [Goulart et al., 2006] is adopted for controller design. The main contribution is a feedback robust MPC algorithm with recursive feasibility guarantee in the presence of time–varying disturbance bounds. The proposed algorithm may yield a larger feasible region comparing to the decentralized control scheme, especially when the size of the vehicle platoon increases. Simulations results demonstrate the effectiveness of the distributed MPC algorithm.
关键词：KeywordsDistributed model predictive controlVehicle platoonRecursive feasibilityConstrained control