Fully Distributed Optimization-Based CAV Platooning Control Under Linear Vehicle Dynamics

This paper develops distributed optimization-based, platoon-centered connected and autonomous vehicle (CAV) car-following schemes, motivated by the recent interest in CAV platooning technologies. Various optimization or control schemes have been developed for platooning. However, most existing platoon centered require either centralized data processing computation at least one step of their referred to as partially schemes. In this paper, we develop fully based, under linear dynamics via model predictive approach with a general prediction horizon. These do not through entire To these propose new formulation an objective function decomposition method that decomposes densely coupled central into sum multiple locally functions whose coupling satisfies network topology constraint. We then exploit operator splitting methods Control design stability analysis is carried out achieve desired traffic transient performance asymptotic stability. Numerical tests demonstrate effectiveness proposed control.