Author: Hanyu ZhangPublisher:
ISBN:
Category :
Languages : en
Pages : 0
Book Description
optimization problem. Moreover, it only implements the first step control law and recalculates the optimal control law at every control time step for adapting to the control uncertainty. One of the big challenges of using the MPC technique is to solve the optimization problem efficiently at each control time step. To tackle this challenge, this study uses distributed optimization approaches to split the computation loads to CAV members in the platoon. The theoretical performance of the MPC technique and distributed optimization approaches, including the MPC feasibility and stability and distributed optimization convergence speed, etc. are investigated and proved. Extensive numerical and simulation experiments are conducted to demonstrate the merits of the proposed approaches.