Distributed receding horizon control of constrained nonlinear vehicle formations with guaranteed γ-gain stability

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Abstract

This paper investigates the distributed receding horizon control (RHC) problem of a vehicle platoon with nonlinear dynamics and subject to system constraints, where each vehicle can communicate with its immediate predecessor and follower. A novel optimization problem and detailed distributed RHC algorithm are designed in order to keep a platoon formation, and further to ensure neighbor γ-gain stability (which is a new notion proposed in this paper and generalizes the string stability). The sufficient conditions on ensuring closed-loop stability and neighbor γ-gain stability are established, respectively. Finally, simulation studies are provided to verify the theoretical results. It is shown that it is possible to achieve certain control performance (i.e., γ-gain stability) and keep a formation simultaneously for the nonlinear vehicle platoon using distributed RHC.

Original languageEnglish
Pages (from-to)148-154
Number of pages7
JournalAutomatica
Volume68
DOIs
StatePublished - 2016

Keywords

  • Constraints
  • Distributed receding horizon control
  • Formation control
  • Nonlinear systems
  • γ-gain stability

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