Robust Model Predictive Control Based Cooperative Control of Uncertain Connected Vehicle Platoon Systems

被引：2

作者：

Zeng, Hao ^{[1
]}

Ye, Zehua ^{[1
]}

Zhang, Dan ^{[1
]}

机构：

[1] Zhejiang Univ Technol, Res Ctr Automat & Artificial Intelligence, Hangzhou, Peoples R China

来源：

2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR | 2023年

关键词：

Robust model predictive control (RMPC); connected vehicle platoon; uncertainty; linear matrix inequalities (LMIs); VEHICULAR PLATOONS; STABILITY; TRACKING;

D O I：

10.1109/ICCAR57134.2023.10151715

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To solve the problem of cooperative control of connected vehicle platoon with parameter uncertainty, this paper proposes a robust model predictive control (RMPC) algorithm which can tolerate the certain parameter uncertainty. A sufficient condition in the form of linear matrix inequalities (LMIs) that guarantees the stability of connected vehicle platoon system with model uncertainty is obtained by using our proposed RMPC algorithm. The optimal feedback control law for the system is obtained by solving some LMIs online at each sampling moment. Finally, the effectiveness of proposed control algorithm is demonstrated through a simulation study of the connected vehicle platoon control system.

引用

页码：256 / 261

页数：6

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