A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons
P. Chanfreut (Eindhoven University of Technology, University of Seville)
T. Keijzer (TU Delft - Team Riccardo Ferrari)
Jose Maria Maestre (University of Seville)
Riccardo Ferrari (TU Delft - Team Riccardo Ferrari)
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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.
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