Unknown_Input_Observer_Based_Approach_for_Distributed_Tube-Based_Model_Predictive_Control_of_Heterogeneous_Vehicle_Platoons.pdf (2.34 MB)
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Unknown input observer based approach for distributed tube-based model predictive control of heterogeneous vehicle platoons

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journal contribution
posted on 16.11.2021, 11:52 authored by Qianyue Luo, Anh-Tu Nguyen, James FlemingJames Fleming, Hui Zhang
This paper addresses the control problem of heterogeneous vehicle platoons subject to disturbances and modeling errors. The objective is to guarantee spatial-geometry constraints of vehicles in a platoon. We deal with the case where a predecessor-leader following (PLF) communication topology is used and heterogeneous vehicle dynamics is subject to disturbances. To estimate the lumped disturbance, the technique of unknown input proportional multiple-integral (PMI) observer is employed such that both the state and the disturbance are simultaneously estimated. Moreover, tube-based model predictive control (TMPC) is used and the corresponding control law is composed of a feed-forward term, a feedback term, and a disturbance compensation term. The gains in the integrated control strategy are optimized by utilizing the particle swarm optimization (PSO) algorithm with an mathscr H_{infty } performance index of an augmented error system. It is proved that the deviations between the actual system and the nominal system are bounded in a robustly positively invariant (RPI) set, that is, the main objective is guaranteed. With the proposed control strategy, simulations and comparisons are carried out. We can see that the control performance of the proposed strategy is significantly improved while the computational time is reduced compared with existing methods.

Funding

National Natural Science Foundation of China Under Grant U1864201

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

IEEE Transactions on Vehicular Technology

Volume

70

Issue

4

Pages

2930 - 2944

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

VoR (Version of Record)

Rights holder

© The Authors

Publisher statement

This is an Open Access Article. It is published by IEEE under the Creative Commons Attribution 4.0 International Licence (CC BY 4.0). Full details of this licence are available at: https://creativecommons.org/licenses/by/4.0/

Acceptance date

02/03/2021

Publication date

2021-03-09

Copyright date

2021

ISSN

0018-9545

eISSN

1939-9359

Language

en

Depositor

Dr James Fleming. Deposit date: 15 November 2021