In this paper, the vehicle platoon control problems for a group of heterogeneous vehicles are investigated, where the multiple constraints of the vehicles and the communication delays among the vehicles are taken into consideration. A distributed model predictive control (DMPC) scheme is proposed to drive the heterogeneous vehicles into the desired platoon. In this DMPC framework, the multiple constraints, including the control constraints, state constraints, and jerk constraints, are employed to describe the practical characteristics of vehicles and the communication delays are time-varying and bounded. In this framework, a group of platoon control schemes is proposed based on the DMPC techniques. Furthermore, the feasibility and stability of the proposed vehicle platoon control system are strictly analyzed. Finally, numerical simulation and experiment with TurtleBot3 mobile robots are provided to validate the effectiveness of proposed approaches.

中文翻译：

---

具有多约束和通信时延的异构车辆排的分布式模型预测控制

本文研究了一组异构车辆的车辆排控制问题，其中考虑了车辆的多重约束和车辆之间的通信延迟。提出了一种分布式模型预测控制（DMPC）方案，以将异构车辆驱动到所需的排中。在该DMPC框架中，采用了多个约束条件，包括控制约束条件，状态约束条件和加加速度约束条件，来描述车辆的实际特性，并且通信延迟是随时间变化且有界的。在此框架下，基于DMPC技术提出了一组排控制方案。此外，严格分析了所提出的车辆排控制系统的可行性和稳定性。最后，