Distributed Model Predictive Control for Heterogeneous Vehicle Platoons under Unidirectional Topologies

Platooning of Connected Vehicles with Undirected Topologies: Robustness Analysis and Distributed H-infinity Controller Synthesis

This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the collective behavior of homogeneous platoons with external disturbances using graph theory. By exploiting the spectral decomposition of a symmetric matrix, the collective dynamics of a platoon is equivalently decomposed into a set of subsystems sharing the same size with one single vehicle. Then, we provide an explicit scaling trend of robustness measure $γ$-gain, a…

异构队列的分布式模型预测控制：仿射间距策略与任意通信拓扑

Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies

本文提出一种分布式模型预测控制算法，支持任意通信拓扑和仿射间距策略，通过总成本分析推导稳定性条件，并经50车仿真和4车硬件实验验证。

Resilient Estimation and Control on $k$-Nearest Neighbor Platoons: A Network-Theoretic Approach

This paper is concerned with the network-theoretic properties of so-called $k$-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with $k$ vehicles, both in front and behind. The network-theoretic properties analyzed in this paper play major roles in quantifying the resilience and robustness of three generic distributed estimation and control algorithms against communication failures and disturbances, namely resilient distributed estimation, resilient distributed consensus, and robust network formation. Based on the results for the connectivity measures of the $k$…

Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers

Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve certain objectives, such as safely reducing the distance among consecutive vehicles while following the leader vehicle. In this paper, we propose a Distributed Nonlinear MPC (DNMPC), based upon an existing approach, to control a heterogeneous dynamic platoon with unidirectional topologies, handling possible cut-in/cut-out maneuvers. The introduced method add…

Modulus Consensus over Networks with Antagonistic Interactions and Switching Topologies

In this paper, we study the discrete-time consensus problem over networks with antagonistic and cooperative interactions. Following the work by Altafini [IEEE Trans. Automatic Control, 58 (2013), pp. 935--946], by an antagonistic interaction between a pair of nodes updating their scalar states we mean one node receives the opposite of the state of the other and naturally by an cooperative interaction we mean the former receives the true state of the latter. Here the pairwise communication can be either unidirectional or bidirectional and the overall network topology graph may change with time.…

Resilient Control of Platooning Networked Robotic Systems via Dynamic Watermarking

Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked communications. This can make them susceptible to cyber attacks. Though security methods such as encryption or specially designed network topologies can increase the difficulty of successfully executing such an attack, these techniques are unable to guarantee secure communication against an attacker. More troublingly, these security methods are unable to ensure that i…