文章基本信息

标题：Event-Triggered Switched Pinning Control for Merging or Splitting Vehicle Platoons
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作者：Takuma Wakasa ; Kenji Sawada ; Seiichi Shin 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15134-15139
DOI：10.1016/j.ifacol.2020.12.2038
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a switched pinning control algorithm with an event-triggering mechanism. The target vehicle platoons are expressed by the multi-agent systems in which pinning agents receive target velocities from external devices. We construct a model predictive control (MPC) algorithm that switches pinning agents via mixed-integer quadratic programming (MIQP). The frequency of the switching, i.e., the solving of the MIQP problems is determined according to the convergence rate of vehicles to the target velocities. This event-triggering mechanism can reduce the calculation cost of the MPC in the steady. Moreover, our algorithm regroups platoons to the arbitrary ones by controlling the adjacent vector that expresses the adjacency between vehicles. As a result, our algorithm allows the external devices to form arbitrary platoons and control the velocity of each platoon while considering the calculation cost.
关键词：KeywordsMulti-Agent SystemsModel Predictive Control Consensus ControlPinning ControlEvent-Triggering mechanismIntelligent Transport SystemsMixed Dynamical System Model