2024/04/18 by Michael H. Shaham, Shaham, Michael H., Taşkın Padır +1
Computer Science · Engineering · Materials Science · #Advanced Control Systems Optimization #Catalytic Processes in Materials Science #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Multiagent Systems (cs.MA) #Optimization and Control (math.OC) #Petri Nets in System Modeling #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2404.12441
openalex publication_date 2024/04/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.