Distributed Economic Model Predictive Control Schemes Of Nonlinear Vehicle Platooning Systems

Vehicle platooning is becoming a hot issue of Intelligent Transport System(ITS).With guaranteed of driving safety,vehicular platoons can reduce fuel consumption,increase roadway throughput and reduce traffic accident rate by actively reducing inter-vehicle distance.At present,the fuel economy of vehicles is the key element of vehicle platooning systems.In this thesis,the robust economic model predictive control(MPC)of nonlinear systems and the distributed economic control of vehicle platooning systems are studied,which has important significance and economic value for the development of vehicle platooning systems.The main results of this thesis are as follows:(1)For a class of constrained uncertain nonlinear systems with unknown but bounded disturbances,a robust economic MPC strategy is proposed to guarantee the input-to-state stability(ISS)of the systems with respect to disturbances.By imposing a modified Lyapunov-based contractive constraint,the optimal control problem of the economic MPC is formulated based on the nominal state prediction of the uncertain system.Then some sufficient conditions are derived to guarantee recursive feasibility and ISS of the EMPC with respect to the disturbance by the arguments of robust invariant sets and terminal elements.Then results are verified by simulation.(2)Considering the fuel efficiency-oriented platooning control problem of connected vehicles,a nonlinear distributed economic MPC approach is proposed to solve the problem of the vehicle platoon subject to nonlinear dynamics and safety constraints.Firstly,the fuel consumption criterion is used to design the distributed economic MPC strategy for the platoon.Then the car-tracking performance is exploited to guarantee stability and string stability of the vehicle platooning.Then the fuel efficiency control problem of the platoon is formulated as a distributed dual-layer economic receding horizon optimization control problem.Based on the stability results,the new strategy reduces the fuel consumption cost of the system by optimizing the cost function of fuel economy and the tracking stability and string stability of the system is guaranteed.The simulation results are compared with the traditional vehicle platooning MPC strategy to verify the effectiveness of the scheme.(3)For the vehicle platooning system control problem under the influence of rolling frictional disturbance,a novel distributed robust economic MPC scheme for nonlinaer vehicle platoons is proposed.The scheme directly optimizes the cost function constructed by the vehicle fuel consumption criterion.In order to guarantee ISS with respect to rolling frictional resistance disturbances and tracking stability of vehicle platooning systems,the robust contractive constraint is constructed by the car-tracking performance and upper bound of resistance disturbance resistance.The performance of the system with the proposed control strategy is verified by stability analysis.The effectiveness of the new strategy is verified by simulation.