This paper presents a novel event-triggered robust distributed model predictive control (DMPC) methodology with a shrinking prediction horizon and shrinking terminal region for vehicle platoon control in the presence of external disturbances and communication delays. Using the framework of tube-based MPC, an information transmission triggering mechanism is designed which is determined by control plan changes for the nominal leading vehicle, to reduce the communication frequency. Then the follower vehicles only update their control inputs, prediction horizons and corresponding terminal sets when they receive new information from the leader, so as to reduce the computational burden. The proposed approach effectively compensates the information errors caused by the communication delays by utilizing the timestamp information. When the leader’s control plan changes during the delay period, the recursive feasibility of the local optimization problem and the uniform ultimate bound stability of the platoon system are guaranteed with the proposed controller. The numerical simulation demonstrates the superior performance and robustness of the proposed approach, which offers promising solutions for real-world platoon control systems.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Event-Triggered Tube-DMPC With Shrinking Ingredients for Vehicle Platoon Under Disturbance and Communication Delay


    Beteiligte:
    Luo, Qianyue (Autor:in) / Lam, James (Autor:in)


    Erscheinungsdatum :

    01.06.2025


    Format / Umfang :

    1763550 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    DMPC of Networked Systems with Event-Triggered Communication

    Zou, Yuanyuan / Li, Shaoyuan | Springer Verlag | 2022


    Distributed Robust Control for Vehicle Platoon Under Event-Triggered Communication Mechanism

    Pan, Xiangcheng / Yuan, Xiaofang / Li, Zhe et al. | IEEE | 2024


    Adaptive Event-Triggered Platoon Control Under Unreliable Communication Links

    Wang, Jiawei / Ma, Fangwu / Yang, Yu et al. | IEEE | 2022


    Event-triggered control of vehicle platoon under deception attacks

    Bansal, Kritika / Mukhija, Pankaj | SAGE Publications | 2022


    Dynamic Event-Triggered DMPC of Networked Systems

    Zou, Yuanyuan / Li, Shaoyuan | Springer Verlag | 2022