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.
Event-Triggered Tube-DMPC With Shrinking Ingredients for Vehicle Platoon Under Disturbance and Communication Delay
IEEE Transactions on Intelligent Transportation Systems ; 26 , 6 ; 8467-8480
2025-06-01
1763550 byte
Article (Journal)
Electronic Resource
English
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