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Distributed model predictive control of multi-vehicle systems with switching communication topologies
Transportation Research Part C: Emerging Technologies ( IF 8.3 ) Pub Date : 2020-08-01 , DOI: 10.1016/j.trc.2020.102717
Keqiang Li , Yougang Bian , Shengbo Eben Li , Biao Xu , Jianqiang Wang

Vehicle-to-vehicle (V2V) communication-enabled cooperation of multiple connected vehicles improves the safety and efficiency of our transportation systems. However, the joining and leaving of vehicles and unreliability of wireless communication channels will cause the switching of communication topology among vehicles, thus affecting the performance of multi-vehicle systems. To address this issue, a distributed model predictive control (DMPC) method is proposed for multi-vehicle system control under switching communication topologies. First, an open-loop optimization problem is formulated, within which neighbor-deviation and self-deviation penalties and constraints are incorporated to ensure stability. Then, a DMPC algorithm is designed for multi-vehicle systems subject to switching communication topologies. For the closed-loop system, the convergence of predicted terminal states is proved based on the neighbor-deviation constraint. After that, closed-loop system stability is analysed based on a common Lyapunov function (CLF) defined using a joint neighbor set. It is proved that asymptotic stability of the closed-loop system can be achieved through a sufficient condition on the weight matrices of the open-loop optimization problem. Numerical simulations are conducted to demonstrate the effectiveness of the proposed DMPC controller.



中文翻译:

具有切换通信拓扑的多车辆系统的分布式模型预测控制

车辆对车辆(V2V)通信支持的多个互联车辆的协作提高了我们运输系统的安全性和效率。然而,车辆的加入和离开以及无线通信信道的不可靠性将导致车辆之间的通信拓扑的切换,从而影响多车辆系统的性能。为了解决这个问题,提出了一种分布式模型预测控制(DMPC)方法,用于在切换通信拓扑下进行多车辆系统控制。首先,提出了一个开环优化问题,其中并入了邻居偏离和自我偏离的惩罚与约束,以确保稳定性。然后,针对经受切换通信拓扑的多车辆系统设计DMPC算法。对于闭环系统,基于邻居偏差约束证明了预测终端状态的收敛性。之后,基于使用联合邻居集定义的公共Lyapunov函数(CLF)分析闭环系统稳定性。实践证明,通过对开环优化问题的权矩阵有充分的条件,可以实现闭环系统的渐近稳定性。进行了数值模拟,以证明所提出的DMPC控制器的有效性。实践证明,通过对开环优化问题的权矩阵有充分的条件,可以实现闭环系统的渐近稳定性。进行了数值模拟,以证明所提出的DMPC控制器的有效性。实践证明,通过对开环优化问题的权矩阵有充分的条件,可以实现闭环系统的渐近稳定性。进行了数值模拟,以证明所提出的DMPC控制器的有效性。

更新日期:2020-08-02
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