混合通信拓扑车队一致性分布式预测控制

Consistent distributed predictive control for vehicle platoonswith mixed communication topology

针对具有状态和控制约束的非线性车队系统的协同一致性稳态问题,提出了混合通信拓扑分布式分层模型预测控制策略。首先,在混合通信方式下,建立车辆动力学非线性偏差模型,为了实现车队系统在行驶中的动态一致性和跟踪稳定性,建立车队系统动态一致性和跟踪稳定性分布式优化问题,通过构造收缩约束使两者相关联,并依此建立动态一致性优化问题递推可行性;然后,应用MPC(Model predictive control)三要素法和滚动时域策略得出车队系统稳定性和一致性稳态的充分条件;最后,通过仿真实验验证了策略的有效性。

A distributed hierarchical model predictive control strategy with mixed topology communication is proposed for the cooperative consistency steady state problem of nonlinear vehicle platoon systems with state and control constraints.Firstly,in this mixed communication mode,the nonlinear deviation model of vehicle dynamics is established.In order to achieve dynamic consistency and tracking stability in the process of moving,the distributed optimization problems of dynamic consistency and tracking stability of the platoon system are established.The contractive constraints are constructed to associate two problems,and the recursive feasibility of the dynamic consistency optimization problem is established.Then the sufficient conditions of the stability and consistency steady state of the vehicle platoon system are guaranteed by using triple of MPC and receding horizon strategy.Finally,the effectiveness of the proposed strategy is verified by the simulation experiment.