Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed γ-gain stability

This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC alg...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 68; pp. 148 - 154
Main Authors Li, Huiping, Shi, Yang, Yan, Weisheng
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.06.2016
Subjects
[formula omitted]-gain stability
Constraints
Distributed receding horizon control
Formation control
Nonlinear systems
γ-gain stability
Distributed receding horizon control
Formation control
Constraints
Nonlinear systems
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Summary:This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC algorithm are designed in order to keep a platoon formation, and further to ensure neighbor γ-gain stability (which is a new notion proposed in this paper and generalizes the string stability). The sufficient conditions on ensuring closed-loop stability and neighbor γ-gain stability are established, respectively. Finally, simulation studies are provided to verify the theoretical results. It is shown that it is possible to achieve certain control performance (i.e.,  γ-gain stability) and keep a formation simultaneously for the nonlinear vehicle platoon using distributed RHC.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2016.01.057