考虑存在通信拓扑切换的非线性车辆队列多目标编队控制问题，提出一种分布式多目标模型预测控制(multi-objective model predictive control，Mo-MPC)策略。首先，利用邻居车辆状态信息以及与时间相关的图函数构造队列协同控制目标函数，再使用字典序优化描述分布式Mo-MPC问题。然后，采用平均终端等式约束保证各车预测终端状态的收敛性。进一步结合权值矩阵充分条件和兼容性约束，利用切换系统公共Lyapunov稳定性技术保证车辆队列闭环系统的稳定性。同时，为了抑制前车状态误差波动沿着队列传播，使用一类状态误差最大值约束保证车辆队列的L∞弦稳定性。最后，利用两组典型工况的对比仿真结果验证本文策略较传统编队控制策略在经济性能方面的提升。
Distributed multi-objective predictive control of vehicle platoons with switching communication topologies
This paper addresses the issue of multi-objective control of nonlinear vehicle platoons with switching communication topologies and presents a distributed multi-objective model predictive control(Mo-MPC)scheme for the vehicle platoon.Firstly,the cooperative control objective function related to neighbor vehicle state information is constructed using the time-related graph function and then the distributed Mo-MPC algorithm is designed using the lexicographic optimization.Next,the convergence of the predicted terminal states of each vehicle is ensured using an average terminal equality constraint.Moreover,the sufficient conditions with respect to the weighted matrix and the compatibility constraint are established to ensure the stability of the closed-loop vehicle platoon by means of the common Lyapunov stability technique of switching systems.TheL∞string stability is further guaranteed using a class of state error maximum constraints.Finally,two groups of comparison simulations on representative traffic scenarios demonstrate the improved economic performance of the proposed scheme compared with an existing platooning control scheme.
nonlinear vehicle platoondistributed model predictive controlmulti-objective controlswitching topologystability
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