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

• Huiping Li ^[1] ; Yang Shi ; Weisheng Yan ^[1]
  1. [1] Northwestern Polytechnical University

     Northwestern Polytechnical University

     China

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 68, 2016, págs. 148-154
• Idioma: inglés
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• Resumen

  • 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 γγ-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 γγ-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., γγ-gain stability) and keep a formation simultaneously for the nonlinear vehicle platoon using distributed RHC.