Abstract:

To solve the string stability problem of cooperative control of constrained vehicle platoon with predecessor-following topologies， the distributed parameterized model predictive platooning control algorithm was proposed. Firstly， the longitudinal kinematic model of vehicle platoons is established， which then is transformed into a linear state space model via feedback linearization. Secondly， the local controllers of the vehicle platoon are determined by solving the local optimization problems of vehicles constructed using the predictive trajectory information of neighborhood vehicles. To reduce the computational demand of solving the local optimal control problem， the incremental control input over the prediction horizon is parameterized as the form of the stair structure. Then an iterative algorithm of model predictive platooning controller is designed to satisfy the constraints of input/output and string ability. Furthermore， by using Lyapunov stability theorem and Moore-Penrose inverse matrix theory， the sufficient conditions are established to ensure asymptotic stability of the vehicle platoon as well as the analysis of the tracking performance. Finally， the effectiveness of the proposed control strategy is verified by comparison simulation with conventional platooning control algorithm.

Key words: control theory and control engineering, model predictive control, vehicle platoons, distributed control, stair-like strategy, string stability