A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

P. Chanfreut; T. Keijzer; J. M. Maestre; R. M.G. Ferrari

doi:10.1016/j.ifacol.2023.10.1142

A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

P. Chanfreut^*, T. Keijzer, J. M. Maestre^*, R. M.G. Ferrari

^*Corresponding author for this work

Team Riccardo Ferrari

Research output: Contribution to journal › Conference article › Scientific › peer-review

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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.

Original language	English
Pages (from-to)	8518-8523
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	56
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1142
Publication status	Published - 2023
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Funding

This work is supported by the Spanish Training Program for Academic Staff under Grant FPU17/02653, and by the Spanish MCIN/AEI/10.13039/501100011033 Project C3PO-R2D2 under Grant PID2020-119476RB-I00.

Keywords

Model predictive control
multi-agent systems
string stability
vehicle platoons

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10.1016/j.ifacol.2023.10.1142

1-s2.0-S2405896323015458-mainFinal published version, 754 KBLicence: CC BY-NC-ND

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author = "P. Chanfreut and T. Keijzer and Maestre, {J. M.} and Ferrari, {R. M.G.}",

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AU - Keijzer, T.

AU - Maestre, J. M.

AU - Ferrari, R. M.G.

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AB - 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.

KW - Model predictive control

KW - multi-agent systems

KW - string stability

KW - vehicle platoons

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A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

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