A recursively feasible distributed robust MPC algorithm for vehicle platooning

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This paper considers the design of a feedback robust model predictive control (MPC) algorithm for vehicle platooning. A vehicle platoon is modeled by individual simplified longitudinal dynamics which are coupled through the input of preceding vehicles. The coupled input is regarded as a disturbance and the framework of robust MPC proposed by [Goulart et al., 2006] is adopted for controller design. The main contribution is a feedback robust MPC algorithm with recursive feasibility guarantee in the presence of time–varying disturbance bounds. The proposed algorithm may yield a larger feasible region comparing to the decentralized control scheme, especially when the size of the vehicle platoon increases. Simulations results demonstrate the effectiveness of the distributed MPC algorithm.

Original languageEnglish
Pages (from-to)112-117
Number of pages6
Issue number23
Publication statusPublished - 1 Jan 2018


  • Constrained control
  • Distributed model predictive control
  • Recursive feasibility
  • Vehicle platoon

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