Hybrid cost function distributed MPC for vehicle platoons with stability and string stability properties

Distributed MPC schemes for control of vehicle platoons typically employ a p-norms based cost function to achieve stability and string stability. Quadratic cost functions yield smoother trajectories, but they are not aligned with string stability conditions. Hence, in this paper, we develop distribu...

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Bibliographic Details
Published inIEEE control systems letters Vol. 7; p. 1
Main Authors Pauca, Ovidiu, Lazar, Mircea, Caruntu, Constantin F.
Format Journal Article
LanguageEnglish
Published IEEE 01.01.2023
Subjects
Cost function
Costs
Distributed control
Interconnected systems
Predictive control
Stability criteria
String stability
Symbols
Trajectory
Vehicle dynamics
Vehicle platoon
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Summary:Distributed MPC schemes for control of vehicle platoons typically employ a p-norms based cost function to achieve stability and string stability. Quadratic cost functions yield smoother trajectories, but they are not aligned with string stability conditions. Hence, in this paper, we develop distributed MPC controllers for vehicle platoons based on a hybrid cost function, which combines infinity norms and quadratic forms. Sufficient conditions for global platoon stability and leader-follower string stability are derived for the developed hybrid cost function and applied to lateral dynamics control. Simulation results show that the hybrid cost function yields lateral position errors that are 10 times smaller (for the maximum error) compared with an infinity norms based cost function.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2023.3285519