Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications
This work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/3/997 |
| _version_ | 1797484668131475456 |
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| author | Anca Maxim Constantin-Florin Caruntu |
| author_facet | Anca Maxim Constantin-Florin Caruntu |
| author_sort | Anca Maxim |
| collection | DOAJ |
| description | This work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure a greater flexibility, in the initialization part of the method, an invariant table set is created containing several invariant sets computed for different constraints values. The algorithm was tested in simulation, using both homogeneous and heterogeneous initial conditions for a platoon with four homogeneous vehicles, using a predecessor-following, uni-directionally communication topology. The simulation results show that the coalitions between vehicles are formed in the beginning of the experiment, when the local feasibility of each vehicle is lost. These findings successfully prove the usefulness of the proposed coalitional DMPC method in a vehicle platooning application, and illustrate the robustness of the algorithm, when tested in different initial conditions. |
| first_indexed | 2024-03-09T23:08:42Z |
| format | Article |
| id | doaj.art-464b04eb660246d0944ce0cb4832fb6e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T23:08:42Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-464b04eb660246d0944ce0cb4832fb6e2023-11-23T17:48:50ZengMDPI AGSensors1424-82202022-01-0122399710.3390/s22030997Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning ApplicationsAnca Maxim0Constantin-Florin Caruntu1Department of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaDepartment of Automatic Control and Applied Informatics, “Gheorghe Asachi” Technical University of Iasi, 700050 Iasi, RomaniaThis work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure a greater flexibility, in the initialization part of the method, an invariant table set is created containing several invariant sets computed for different constraints values. The algorithm was tested in simulation, using both homogeneous and heterogeneous initial conditions for a platoon with four homogeneous vehicles, using a predecessor-following, uni-directionally communication topology. The simulation results show that the coalitions between vehicles are formed in the beginning of the experiment, when the local feasibility of each vehicle is lost. These findings successfully prove the usefulness of the proposed coalitional DMPC method in a vehicle platooning application, and illustrate the robustness of the algorithm, when tested in different initial conditions.https://www.mdpi.com/1424-8220/22/3/997coalitional model predictive controldistributed model predictive controlrobust positively invariant setsclosed-loop stabilityvehicle platooning |
| spellingShingle | Anca Maxim Constantin-Florin Caruntu Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications Sensors coalitional model predictive control distributed model predictive control robust positively invariant sets closed-loop stability vehicle platooning |
| title | Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications |
| title_full | Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications |
| title_fullStr | Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications |
| title_full_unstemmed | Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications |
| title_short | Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications |
| title_sort | coalitional distributed model predictive control strategy for vehicle platooning applications |
| topic | coalitional model predictive control distributed model predictive control robust positively invariant sets closed-loop stability vehicle platooning |
| url | https://www.mdpi.com/1424-8220/22/3/997 |
| work_keys_str_mv | AT ancamaxim coalitionaldistributedmodelpredictivecontrolstrategyforvehicleplatooningapplications AT constantinflorincaruntu coalitionaldistributedmodelpredictivecontrolstrategyforvehicleplatooningapplications |