Connected Cruise Control of a Vehicle Platoon with Uncertain Actuator Delays Based on Robust Model Predictive Control Method

被引：0

作者：

Zhang H. ^{[1
]}

Zhang N. ^{[1
]}

Xu L. ^{[1
]}

Wang J. ^{[1
]}

Yin G. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Southeast University, Nanjing

来源：

Tongji Daxue Xuebao/Journal of Tongji University | 2022年 / 50卷

关键词：

connected cruise control; platoon stability; robust model predictive control; vehicle platoon;

D O I：

10.11908/j.issn.0253-374x.23723

中图分类号：

学科分类号：

摘要：

Considering the uncertainties of actuator delays in a vehicle platoon，a novel connected cruise control based on robust model predictive control method is proposed. The approach deals with the safety constraints in transients， and accommodates vehicle platoons string stability and robustness against uncertain actuator delays. The mathematical model of a connected vehicle platoon is established and its control architecture for platoon cruising is proposed. Then， the linear feedback characteristics of model predictive control （MPC） under unconstrained conditions are analyzed. Adopting H∞ control method， the robustness to the uncertainties of actuator delays is analyzed， and the realization conditions of L2 string stability are obtained. Finally，a controller matching approach is applied to tune the weight matrix of MPC according to the linear feedback law obtained. The simulation results show that the proposed control method simplifies the controller matching in engineering applications and further improves the functional stability and safety of the connected cruise control for vehicle platoon. © 2022 Science Press. All rights reserved.

引用

页码：140 / 144

页数：4

共 17 条

[1] Van AREM B，, Van DRIEL C J G., The impact of cooperative adaptive cruise control on traffic flow characteristics［J］, IEEE Transactions on Intelligent Transportation Systems, 4, 7, (2006)
[2] QIN Y，, LI S., String stability analysis of mixed CACC vehicular flow with vehicle-to-vehicle communication［J］, IEEE Access, 8, (2020)
[3] ALAM A, Et al., Heavy-duty vehicle platooning towards sustainable freight transportation：a cooperative method to enhance safety and efficiency［J］, IEEE Control Systems Magezine, 36, (2015)
[4] FENG S，, ZHANG Y, LI S E，, Et al., String stability for vehicular platoon control：definitions and analysis methods［J］, Annual Reviews in Control, 47, (2019)
[5] String-stable CACC design and experimental validation：a frequency-domain approach［J］, IEEE Transactions on Vehicular Technology, 59, 9, (2010)
[6] NIJMEIJER H., L<sub>p</sub> string stability of cascaded systems：application to vehicle platooning ［J］, IEEE Transactions on Control Systems Technology, 22, 2, (2014)
[7] OROSZ G., Connected cruise control： modelling， delay effects， and nonlinear behaviour ［J］, Vehicle System Dynamics, 54, 8, (2016)
[8] QIN W B, GOMEZ M M, OROSZ G., Stability and frequency response under stochastic communication delays with applications to connected cruise control design［J］, IEEE Transactions on Intelligent Transportation Systems, 18, 2, (2017)
[9] CAVENEY D., Distributed receding horizon control of vehicle platoons：stability and string stability［J］, IEEE Transactions on Automatic Control, 57, 3, (2012)
[10] FREDRIKSSON J., A control matching model predictive control approach to string stable vehicle platooning［J］, Control Engineering Practice, 45, (2015)

← 1 2 →