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A Control Matching-based Predictive Approach to String Stable Vehicle Platooning

Roozbeh Kianfar (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik)
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014 (1474-6670). Vol. 19 (2014), p. 10700-10705.
[Konferensbidrag, refereegranskat]

A predictive control strategy for vehicle platoons is presented in this paper, accommodating both string stability and constraints (e.g., physical and safety) satisfaction. In the proposed design procedure, the two objectives are achieved by matching a Model Predictive Controller (MPC), enforcing constraints satisfaction, with a linear controller designed to guarantee string stability. The proposed approach neatly combines the straightforward design of a string stable controller in the frequency domain, where a considerable number of approaches have been proposed in literature, with the capability of a MPC-based controller of enforcing state and input constraints. A controller obtained with the proposed design procedure is validated in simulations, showing how string stability and constraints satisfaction can be simultaneously achieved with a single controller. The operating region that the MPC controller is string stable is characterized by the interior of feasible set of the MPC controller.



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Denna post skapades 2014-03-27. Senast ändrad 2017-06-28.
CPL Pubid: 195811

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Transport
Reglerteknik
Farkostteknik

Chalmers infrastruktur