跟随式车辆队列高效协同弦稳定预测控制

Efficient cooperative predictive control of predecessor-following vehicle platoons with guaranteed string stability

针对前后跟随式通信拓扑的约束车辆队列弦稳定协同控制问题,提出一种分布式参数化模型预测队列控制算法。首先,建立车辆队列的纵向动力学模型,通过反馈线性化将其转化为线性状态空间模型。然后,利用邻域内车辆的预测轨迹信息构造局部优化问题,建立车辆队列局部控制器。为降低求解该局部最优控制问题的计算量,将预测时域内的控制输入增量参数化为阶梯式结构。在此基础上,设计模型预测队列控制器迭代计算算法,满足系统输入输出约束和弦稳定约束条件。进一步,应用Lyapunov稳定性定理和Moore-Penrose广义逆矩阵,获得车辆队列渐近稳定性充分条件,并分析系统跟踪性能。最后,通过与常规队列控制算法的仿真对比实验,验证所提出控制策略的高效性。

To solve the string stability problem of cooperative control of constrained vehicle platoon with predecessor-following topologies,the distributed parameterized model predictive platooning control algorithm was proposed.Firstly,the longitudinal kinematic model of vehicle platoons is established,which then is transformed into a linear state space model via feedback linearization.Secondly,the local controllers of the vehicle platoon are determined by solving the local optimization problems of vehicles constructed using the predictive trajectory information of neighborhood vehicles.To reduce the computational demand of solving the local optimal control problem,the incremental control input over the prediction horizon is parameterized as the form of the stair structure.Then an iterative algorithm of model predictive platooning controller is designed to satisfy the constraints of input/output and string ability.Furthermore,by using Lyapunov stability theorem and Moore-Penrose inverse matrix theory,the sufficient conditions are established to ensure asymptotic stability of the vehicle platoon as well as the analysis of the tracking performance.Finally,the effectiveness of the proposed control strategy is verified by comparison simulation with conventional platooning control algorithm.