Output Feedback Distributed Model Predictive Control for Heterogeneous Vehicle Platoon

摘要

In this paper, we investigate the heterogeneous vehicle platoon control problems, where only the vehicle's position is available for the control system. A novel control method is proposed based on the output feedback distributed model predictive control (DMPC) techniques. To formally present the vehicle platoon control system, the heterogeneous vehicles are dynamically decoupled subsystems with different parameters and control input constraints. Then, a Luenberger observer based estimator is developed to approximate the vehicle's velocity and acceleration. Furthermore, the iterative feasibility and the stability of the closed-loop control system are analyzed. Finally, numerical simulations are provided to validate effectiveness of the proposed approaches.