A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

Journal article (2023)

Authors

P. Chanfreut University of Seville, Eindhoven University of Technology
T. Keijzer Team Riccardo Ferrari - Mechanical, Maritime and Materials Engineering
J. M. Maestre University of Seville
Riccardo M.G. Ferrari Team Riccardo Ferrari - Mechanical, Maritime and Materials Engineering
Research Group
Team Riccardo Ferrari (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 P. Chanfreut, T. Keijzer, J. M. Maestre, Riccardo M.G. Ferrari
DOI
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https://doi.org/10.1016/j.ifacol.2023.10.1142
Multi-agent systems Model predictive control String stability Vehicle platoons
More Info
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Published Date

2023

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Riccardo Ferrari

Abstract

This work presents a coalitional model predictive controller for collaborative vehicle platoons. The overall system is modeled as a string of locally controlled vehicles that can share data through a wireless communication network. The vehicles can dynamically form disjoint groups that coordinate their actions, i.e., the so-called coalitions. The control goals are keeping a desired reference distance between all vehicles while allowing for occasional switching of the communication topology. Likewise, the presented controller promotes a string-stable evolution of the platoon system. Numerical results are provided to illustrate the proposed approach.