A Control Matching-based Predictive Approach to String Stable Vehicle Platooning
Paper in proceedings, 2014
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.