A distributed model predictive control method combined with delay compensator for multiple vehicle platoons

With an increasing number of vehicles on the road, multiple-vehicle platoons have become a new solution under communication constraints. However, existing studies seldom consider effect tail vehicle information transfer and platoon control over long distances, thus performance time-varying delays is unacceptable. In this study, hierarchical multi-platoon architecture considering backbone sub-platoons proposed non-ideal conditions, where layer topology designed to achieve appropriate coordination among sub-platoons. Distributed model predictive controllers (DMPCs) for backbone- that integrate delay compensation been proposed. Buffers compensators in DMPC are reduce interference caused by communications. The asymptotic stability analyzed at sub- levels. results show compared with traditional without compensator, can eliminate velocity lag steady-state spacing errors maintain maximum within 0.11 m/s 0.17 m, respectively, certain operating conditions. Thus, method guarantees multiple both constant