Unknown Input Observer Based Approach for Distributed Tube-Based Model Predictive Control of Heterogeneous Vehicle Platoons

This paper addresses the control problem of heterogeneous vehicle platoons subject to disturbances and modeling errors. The objective is guarantee spatial-geometry constraints vehicles in a platoon. We deal with case where predecessor-leader following (PLF) communication topology used dynamics disturbances. To estimate lumped disturbance, technique unknown input proportional multiple-integral (PMI) observer employed such that both state disturbance are simultaneously estimated. Moreover, tube-based model predictive (TMPC) corresponding law composed feed-forward term, feedback compensation term. gains integrated strategy optimized by utilizing particle swarm optimization (PSO) algorithm an H ? performance index augmented error system. It proved deviations between actual system nominal bounded robustly positively invariant (RPI) set, is, main guaranteed. With proposed strategy, simulations comparisons carried out. can see significantly improved while computational time reduced compared existing methods.