Vehicle platooning gains its popularity in improving traffic capacity, safety and fuel saving. The key requirements of an effective platooning strategy include keeping a safe inter-vehicle space, ensuring string stability and satisfying vehicular constraints. To meet these requirements, this paper proposes a distributed min-max model predictive control (MPC). One technical contribution is that the proposed MPC can guarantee input-to-state predecessor-follower string stability, in the presence of vehicle-to-vehicle communication delays and realistic constraints. Another technical contribution is the development of a new concept of input-to-state stability margin for analyzing the platooning system that is nonlinear under MPC. The proposed MPC is applicable to both homogeneous and heterogeneous platoons because only the point-mass vehicle model is needed. The proposed MPC also has reduced communication burden because each vehicle in the platoon only transmits its current acceleration to the adjacent follower. The design efficacy is verified by simulating a platoon composed of five vehicles under different uncertainties and communication delays.

中文翻译：

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具有通信延迟的最小-最大模型预测车辆编队

车辆排队在提高交通容量、安全性和节省燃料方面越来越受欢迎。有效的排队策略的关键要求包括保持安全的车辆间空间、确保字符串稳定性和满足车辆约束。为了满足这些要求，本文提出了一种分布式最小-最大模型预测控制（MPC）。一项技术贡献是，在存在车对车通信延迟和现实约束的情况下，所提出的 MPC 可以保证输入到状态的前驱-从动串稳定性。另一个技术贡献是开发了输入到状态稳定裕度的新概念，用于分析 MPC 下非线性的排队系统。所提出的 MPC 适用于同质和异质排，因为只需要点质量车辆模型。提议的 MPC 还减少了通信负担，因为排中的每辆车只将其当前加速度传输给相邻的跟随者。通过在不同的不确定性和通信延迟下模拟由五辆车组成的排来验证设计有效性。