Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm
In this paper, an improved distributed model predictive control (IDMPC) method for the platoon consisting of electric vehicles is put forward. And the motion of the platoon is performed in two dimensions, which contains longitudinal motion and lateral motion. Firstly, a platoon model is built based...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
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| Series: | Symmetry |
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| Online Access: | https://www.mdpi.com/2073-8994/14/10/2069 |
| _version_ | 1797469820586819584 |
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| author | Sheng Zhang Xiangtao Zhuan |
| author_facet | Sheng Zhang Xiangtao Zhuan |
| author_sort | Sheng Zhang |
| collection | DOAJ |
| description | In this paper, an improved distributed model predictive control (IDMPC) method for the platoon consisting of electric vehicles is put forward. And the motion of the platoon is performed in two dimensions, which contains longitudinal motion and lateral motion. Firstly, a platoon model is built based on the car-following model for a single following vehicle. Then, the IDMPC strategy is designed with the consideration of multiple objectives. The symmetrical weight matrices in the IDMPC are important for the final control effect. To control each following vehicle in the platoon coordinately, the weights for the IDMPC are optimized based on the QMIX algorithm in multi-agent reinforcement learning. The QMIX can fully consider the global information in the multi-vehicle following process; therefore, the IDMPC can get optimal control variables. Finally, the simulation and experimental results verify the IDMPC. Compared to the comparison strategies, the IDMPC has the better lane tracking, stability in lateral direction and economic performance. |
| first_indexed | 2024-03-09T19:26:29Z |
| format | Article |
| id | doaj.art-0f397cce0e6d4e39b0e19ad66925c552 |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-09T19:26:29Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-0f397cce0e6d4e39b0e19ad66925c5522023-11-24T02:51:46ZengMDPI AGSymmetry2073-89942022-10-011410206910.3390/sym14102069Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX AlgorithmSheng Zhang0Xiangtao Zhuan1Department of Artificial Intelligence and Automation, School of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, ChinaDepartment of Artificial Intelligence and Automation, School of Electrical Engineering and Automation, Wuhan University, Wuhan 430072, ChinaIn this paper, an improved distributed model predictive control (IDMPC) method for the platoon consisting of electric vehicles is put forward. And the motion of the platoon is performed in two dimensions, which contains longitudinal motion and lateral motion. Firstly, a platoon model is built based on the car-following model for a single following vehicle. Then, the IDMPC strategy is designed with the consideration of multiple objectives. The symmetrical weight matrices in the IDMPC are important for the final control effect. To control each following vehicle in the platoon coordinately, the weights for the IDMPC are optimized based on the QMIX algorithm in multi-agent reinforcement learning. The QMIX can fully consider the global information in the multi-vehicle following process; therefore, the IDMPC can get optimal control variables. Finally, the simulation and experimental results verify the IDMPC. Compared to the comparison strategies, the IDMPC has the better lane tracking, stability in lateral direction and economic performance.https://www.mdpi.com/2073-8994/14/10/2069electric vehicleplatoon controldistributed model predictive controlweightsQMIX |
| spellingShingle | Sheng Zhang Xiangtao Zhuan Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm Symmetry electric vehicle platoon control distributed model predictive control weights QMIX |
| title | Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm |
| title_full | Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm |
| title_fullStr | Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm |
| title_full_unstemmed | Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm |
| title_short | Distributed Model Predictive Control for Two-Dimensional Electric Vehicle Platoon Based on QMIX Algorithm |
| title_sort | distributed model predictive control for two dimensional electric vehicle platoon based on qmix algorithm |
| topic | electric vehicle platoon control distributed model predictive control weights QMIX |
| url | https://www.mdpi.com/2073-8994/14/10/2069 |
| work_keys_str_mv | AT shengzhang distributedmodelpredictivecontrolfortwodimensionalelectricvehicleplatoonbasedonqmixalgorithm AT xiangtaozhuan distributedmodelpredictivecontrolfortwodimensionalelectricvehicleplatoonbasedonqmixalgorithm |