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.


Roozbeh Kianfar

Chalmers, Signals and Systems, Systems and control, Mechatronics

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control, Mechatronics

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014

1474-6670 (ISSN)

Vol. 19 10700-10705

Areas of Advance


Subject Categories

Vehicle Engineering

Control Engineering



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