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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| Published in | Automatica (Oxford) Vol. 68; pp. 148 - 154 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.06.2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0005-1098 1873-2836 |
| DOI | 10.1016/j.automatica.2016.01.057 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Yan, Weisheng Li, Huiping Shi, Yang |
| Author_xml | – sequence: 1 givenname: Huiping surname: Li fullname: Li, Huiping email: lihuiping@nwpu.edu.cn, peter.huiping@gmail.com organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China – sequence: 2 givenname: Yang surname: Shi fullname: Shi, Yang email: yshi@uvic.ca, yangshi.uvic@gmail.com organization: Department of Mechanical Engineering, University of Victoria, Victoria, B.C., Canada, V8W 3P6 – sequence: 3 givenname: Weisheng surname: Yan fullname: Yan, Weisheng email: weisheng_yan@yahoo.cn organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China |
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| Keywords | γ-gain stability Distributed receding horizon control Formation control Constraints Nonlinear systems |
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| SubjectTerms | [formula omitted]-gain stability Constraints Distributed receding horizon control Formation control Nonlinear systems |
| Title | Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed γ-gain stability |
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