On distributed model predictive control for vehicle platooning with a recursive feasibility guarantee

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Abstract

This paper proposes a distributed model predictive control algorithm for vehicle platooning and more generally networked systems in a chain structure. The distributed models of the vehicle platoon are coupled through the input of the preceding vehicles. Using the principles of robust model predictive control, the coupled input is regarded as a disturbance and the robust model predictive control algorithm proposed by [Kerrigan, 2001] is employed for every vehicle. Based on this approach, a new distributed model predictive control algorithm is proposed by communicating the inputs among the vehicles, which enlarges the feasible regions of the local controllers while recursive feasibility still holds.

Original languageEnglish
Pages (from-to)7193-7198
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - 1 Jul 2017

Keywords

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

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