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A control matching model predictive control 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)
Control Engineering Practice (0967-0661). Vol. 45 (2015), p. 163-173.
[Artikel, refereegranskad vetenskaplig]

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 an MPC-based controller enforcing state and input constraints.A controller obtained with the proposed design procedure is validated both in simulations and in the field test, 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.

Nyckelord: Control matching, Model predictive control, String stability, Vehicle platooning



Denna post skapades 2015-11-20. Senast ändrad 2016-10-28.
CPL Pubid: 226080

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Signalbehandling

Chalmers infrastruktur