کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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695205 | 1460647 | 2016 | 7 صفحه PDF | دانلود رایگان |
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.
Journal: Automatica - Volume 68, June 2016, Pages 148–154