约束非线性车辆队列分布式多目标模型预测控制
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作者单位:

浙江工业大学

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中图分类号:

TP273

基金项目:

国家自然科学基金项目(61773345);浙江省高校基本科研业务费项目(RF-C2020003)


Distributed Multi-Objective Model Predictive Control for Constrained Nonlinear Vehicle Platoons
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Affiliation:

Zhejiang University of Technology

Fund Project:

National Natural Science Foundation of China(61773345);Fundamental Research Funds for the Zhejiang Provincial Universities(RF-C2020003)

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    摘要:

    针对具有状态与控制约束的非线性车辆队列系统多目标控制问题,提出了一种分布式多目标模型预测控制(Model Predictive Control, MPC)策略。基于前车-后车单向通信拓扑,建立了网联车辆队列非线性纵向巡航模型。应用字典序算法描述分布式多目标MPC问题。进一步,通过设计弦稳定与收缩约束,并结合MPC三要素条件,保证了车辆队列在经济性能与协同性能最优条件下的稳定性与弦稳定性结果。最后,典型工况的仿真结果验证了本文策略的有效性。

    Abstract:

    This paper presents a distributed multi-objective model predictive control (MPC) strategy for multi-objective control problems of nonlinear vehicle platoon systems subject to state and control constraints. Based on the predecessor-follower communication topology, the nonlinear longitudinal cruise control models of connected vehicle platoons are established. The lexicographic method is applied to formulate the distributed multi-objective optimization problem. Moreover, together with the triple elements of MPC, the constraints on string stability and contractive are designed to guarantee stability and string stability in the context of optimality of economic performance and coordination performance of the vehicle platoon. Finally, simulation results of typical conditions illustrate the effectiveness of the proposed scheme.

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历史
  • 收稿日期:2021-03-28
  • 最后修改日期:2021-07-16
  • 录用日期:2021-07-19
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