控制理论(社会学)
稳健性(进化)
计算机科学
排
车头时距
控制器(灌溉)
模拟
控制(管理)
生物化学
化学
人工智能
生物
农学
基因
作者
Xuan Wang,Manjiang Hu,Yougang Bian,Xiaowei Wang,Hongmao Qin,Yougang Bian
标识
DOI:10.1016/j.vehcom.2023.100655
摘要
Communication delays are inevitable in vehicle platoons and may inhibit control performance. To address this issue, existing delay compensation strategies often resort to a greater time headway based on the delay upper bound, which compromises the benefits on traffic throughput. Moreover, it remains a major challenge to strictly ensure string stability with delays for distributed model predictive control (DMPC)-based controller. This paper presents a DMPC method for the cooperation of heterogeneous platoons subject to time-varying communication delays and greatly improves robustness against communication delays by improving the DMPC mechanism. A third-order heterogeneous vehicle dynamics model is integrated into the proposed method to improve control precision when implemented in the field. A synchronization mechanism is designed and the constant spacing policy is applied, which eliminates the delay dependence of the time headway selection and may thus improve traffic throughput. By incorporating a dual-mode scheme, a robustness constraint and a string stability constraint in the optimization problem, feasibility, closed-loop stability, and string stability are theoretically proved. A sufficient condition on the controller parameters is derived to guarantee closed-loop stability under communication delays. Numerical simulations are conducted to demonstrate the effectiveness of the proposed delay-compensating DMPC controller. The results reveal that the proposed controller outperforms the traditional DMPC controller and delay-involved linear controller on string stability, tracking performance and desired spacing selection.
科研通智能强力驱动
Strongly Powered by AbleSci AI