Distributed and adaptive model predictive control for vehicle platoon systems under non-ideal communication

Abstract: The uncertainty of wireless communication poses significant challenges to platoon control performance. Aiming at alleviating the influence of non-ideal communication on the platoon system, this paper proposes a distributed and adaptive model predictive control (MPC) method. First of all, to deal with the transmission uncertainty caused by non-ideal communication, compensated data packets are customized for each vehicle. Then, an adaptive model predictive control method is proposed to balance the system response speed and tracking accuracy. Furthermore, to reduce the computational requirements of the vehicle platoon system, a predictive time-domain update strategy suitable for non-ideal communication was introduced. Finally, the sufficient conditions for ensuring the feasibility of the MPC algorithm and the stability of the closed-loop platoon control system are theoretically analyzed. The simulation results show that the proposed method significantly reduces the computing resource requirements for solving the optimization problem while ensuring satisfactory system performance.