针对具有状态与控制约束的非线性 异构车队系统,提出一种可扩展的分布式模型预测 控制(model predictive control, MPC) 策略.基于前车-后车(predecessor-follower, PF)单向通信拓扑,建立车队可扩展纵向离散时间非线性偏差模型.通过定 义车辆跟踪性能指标和车队系统队形约束,建立可扩展车队分布式优化问 题.基于MPC三要素法和滚动时域,确保优化问题递推可行性.在此基础 上,得到保证可扩展车队系统稳定性及其弦稳定的充分条件.最后,仿真 结果验证了文章所提出的控制策略的有效性.

A scalable distributed model predictive control (MPC) strategy is proposed for nonlinear heterogeneous vehicular platoon systems with state and control constraints. Based on the unidirectional communication topology of Predecessor-Follower (PF), a scalable longitudinal discrete-time nonlinear model of the vehicle is established. Distributed optimization problem is established by defining the vehicle tracking performance index and the formation constraints of the vehicular platoon system. Based on the triplet of MPC and receding horizon, the recursive feasibility of the optimization problem is ensured. On this basis, sufficient conditions are obtained to ensure the stability and string stability of the scalable vehicular platoon system. Finally, simulation results verify the effectiveness of the proposed control strategy.