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

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

Home > Archive>Volume 50, Issue S1, 2022 >140-144. DOI:10.11908/j.issn.0253-374x.23723

Connected Cruise Control of a Vehicle Platoon with Uncertain Actuator Delays Based on Robust Model Predictive Control Method
DOI:
                        10.11908/j.issn.0253-374x.23723
                    
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                        ZHANG HaobinZHANG Haobin
School of Mechanical Engineering， Southeast University， Nanjing 211189， China
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ZHANG NingZHANG Ning
School of Mechanical Engineering， Southeast University， Nanjing 211189， China
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XU LiweiXU Liwei
School of Mechanical Engineering， Southeast University， Nanjing 211189， China
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WANG JinxiangWANG Jinxiang
School of Mechanical Engineering， Southeast University， Nanjing 211189， China
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YIN GuodongYIN Guodong
School of Mechanical Engineering， Southeast University， Nanjing 211189， China
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Affiliation:School of Mechanical Engineering， Southeast University， Nanjing 211189， China
Clc Number:U461.6
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Abstract:

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.

Key words:vehicle platoon;connected cruise control;platoon stability;robust model predictive control

Reference

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ZHANG Haobin, ZHANG Ning, XU Liwei, WANG Jinxiang, YIN Guodong. Connected Cruise Control of a Vehicle Platoon with Uncertain Actuator Delays Based on Robust Model Predictive Control Method[J].同济大学学报(自然科学版),2022,50(S1):140~144

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Received:October 23,2022
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Online: June 04,2024
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