有界扰动下异质车辆队列分布式鲁棒经济预测控制

针对有界扰动下异质车辆队列节能与稳定分布式协同控制问题,提出一种新的分布式鲁棒经济模型预测控制(economic model predictive control, EMPC)策略.首先采用不确定误差模型描述有界扰动下异质车辆队列纵向行驶动态特性,再应用tube思想对系统约束进行紧缩设计,补偿有界扰动对系统造成的不确定性.其次,采用局部车辆行驶能耗模型描述车辆队列分布式经济性能优化的有限时域最优控制问题,并利用传统跟踪性能指标设计附加稳定收缩约束函数.进一步,基于系统收缩原理,建立车辆队列闭环系统关于有界扰动的输入-状态稳定性条件.最后,通过与车辆队列传统分布式鲁棒模型预测控制策略的数值仿真对比结果验证了所提出策略的有效性和优越性.

Distributed robust economic predictive control of heterogeneous vehicle platoons under bounded disturbances

A new distributed robust economic model predictive control(EMPC) strategy is proposed to solve the problem of distributed cooperative control of heterogeneous vehicle platoons under bounded disturbances for energy saving and stablility. Firstly, the uncertain error model is used to describe the longitudinal driving dynamic characteristics of heterogeneous vehicle platoons under bounded disturbances, and the system constraints are tightened by applying the tube idea to compensate the uncertainty of the bounded disturbances on the system. Secondly, the finite-time optimal control problem of vehicle platoon distributed economic performance optimization is described based on the local vehicle driving energy consumption model, and the additional stability shrinkage constraint function is designed by using the traditional tracking performance index. Furthermore, based on the principle of system shrinkage, the conditions about input-to-state stability of the vehicle platoon closed-loop system with respect to bounded disturbances are established. Finally, compared with the numerical simulation results of the traditional distributed robust model predictive control strategy for vehicle platoons, the effectiveness and superiority of the strategy proposed in this paper are verified.