String Stable Model Predictive Cooperative Adaptive Cruise Control for Heterogeneous Platoons

Abstract

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Multi-Model Adaptive Control for CACC Applications

“…• Dynamics estimation results faster than other estimation/identification processes in the literature [17]. • Experimental results belong to the very first heterogeneous CACC algorithm results in the literature together with [28]. The paper is structured as follows.…”

Min-Max Model Predictive Vehicle Platooning With Communication Delay

“…However, this cannot be met by using the traditional MPC with onlinecomputed nonlinear control policy [6][7][8]. The exceptions are [9][10][11]. The traditional MPC also lacks robustness against disturbance and uncertainty in the platoon.…”

“…In order to prove string stability, a performance metric is needed to quantify it. The metrics used in the literature include H ∞ -norm stability [9,11,12], p -norm stability [10,13], input-to-output stability [14], and input-to-state stability [15]. Compared with other metrics, input-to-state string stability is more generic and convenient for both theoretical analysis [15] and implementation [16].…”

Robust Time-Delay Feedback Control of Vehicular CACC Systems with Uncertain Dynamics

“…With the information exchange among vehicles in the group by vehicle-to-anything (V2X) communication [1], CACC systems can improve traffic flow stability, throughput, driving safety and ride comfort of vehicles [2,3]. CACC technology is now shown to be one of the promising intelligent transportation system technologies [2][3][4][5][6][7][8][9].…”

“…This property can effectively avoid a halt or collision at the end of a platoon [10,11]. Various CACC methods have been proposed to derive the (string) stability of vehicle platoons (e.g., see [5][6][7][8][9][12][13][14][15][16][17][18] and the references therein).…”