Aiming at improving the dynamics and stability of heterogeneous vehicular platoons, a practical control strategy is developed considering the complex real driving conditions. A node vehicle model involving wheel rotational dynamics is established, and the wheel slip ratio of the individual vehicle is introduced as a control state variable into the platoon control. By means of adding the constraint of wheel slip, a distributed nonlinear model predictive control (DNMPC) strategy is proposed and formulated, wherein the wheel slip is introduced in the platoon control to coordinate the platoon following control and individual vehicle dynamics. By considering the state of the predecessor as a disturbance for the node vehicle and accounting for nonzero initial states the string stability of the platoon considering initial conditions is proved based on the input-to-state stability (ISS) and Lyapunov theory. Numerical results indicate that the proposed control strategy can effectively coordinate the platoon following control and the individual vehicle dynamics in a broad range of operating scenarios. This coordination ensures the string stability of the platoon and the individual vehicle dynamics, even in nonzero initial conditions.


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    Title :

    Distributed Nonlinear Model Predictive Control of Vehicular Platoon Orienting Practical Driving Conditions


    Contributors:


    Publication date :

    2025-02-01


    Size :

    2697016 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English