Quadratic programming-based cooperative adaptive cruise control under uncertainty via receding horizon strategy
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Tarih
2021
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Sage Publications Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Cooperative longitudinal motion control can greatly contribute to safety, mobility, and sustainability issues in today's transportation systems. This article deals with the development of cooperative adaptive cruise control (CACC) under uncertainty using a model predictive control strategy. Specifically, uncertainties arising in the system are presented as disturbances acting in the system and measurement equations in a state-space formulation. We aim to design a predictive controller under a common goal (cooperative control) such that the equilibrium from initial condition of vehicles will remain stable under disturbances. The state estimation problem is handled by a Kalman filter and the optimal control problem is formulated by the quadratic programming method under both state and input constraints considering traffic safety, efficiency, as well as driving comfort. In the sequel, adopting the CACC system in four-vehicle platoon scenarios are tested via MATLAB/Simulink for cooperative vehicle platooning control under different disturbance realizations. Moreover, the computational effectiveness of the proposed control strategy is verified with respect to different platoon sizes for possible real-time deployment in next-generation cooperative vehicles.
Açıklama
Anahtar Kelimeler
Quadratic programming, model predictive control, cooperative adaptive cruise control, Kalman filtering, uncertainty
Kaynak
Transactions of The Institute of Measurement and Control
WoS Q Değeri
Q3
Scopus Q Değeri
Q2
Cilt
43
Sayı
13
