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

Author

Roozbeh Kianfar

Chalmers, Signals and Systems, Systems and control

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Jonas Fredriksson

Chalmers, Signals and Systems, Systems and control

IFAC Proceedings Volumes (IFAC-PapersOnline)

14746670 (ISSN)

Vol. 19 10700-10705
978-390282362-5 (ISBN)

Areas of Advance

Transport

Subject Categories

Vehicle Engineering

Control Engineering

DOI

10.3182/20140824-6-za-1003.02350

ISBN

978-390282362-5

More information

Latest update

8/8/2023 6