Nonconvex, Fully Distributed Optimization Based CAV Platooning Control Under Nonlinear Vehicle Dynamics
Nonconvex, Fully Distributed Optimization Based CAV Platooning Control Under Nonlinear Vehicle Dynamics
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DOI：
10.1109/tits.2022.3175668
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发表时间：
2021-04
影响因子：
8.5
通讯作者：
Jinglai Shen;Eswar Kumar H. Kammara;Lili Du
中科院分区：
文献类型：
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作者：
Jinglai Shen;Eswar Kumar H. Kammara;Lili Du
在下一代智能交通系统的推动下，自动驾驶汽车队列驾驶技术受到了广泛关注。本文考虑非线性车辆动力学，针对可能存在异构的自动驾驶汽车队列，采用以队列为中心的MPC方法，开发了基于全分布优化的自动驾驶汽车队列控制方案。车辆的非线性动力学特性给分布式算法的开发和控制分析带来了很大的困难。具体来说，潜在的MPC优化问题是非凸且密集耦合的。此外，闭环动力学成为一个具有非消失外部扰动的时变非线性系统，使稳定性分析变得相当复杂。为了克服这些困难，我们将潜在的MPC优化问题表述为一个局部耦合的非凸优化问题，并为一般MPC水平开发了一个基于顺序凸规划的完全分布式方案。该方案可以通过算子分割方法有效地实现实时计算。为了分析闭环系统的稳定性，我们应用了全局隐函数定理、线性时变系统的稳定性和Lyapunov输入到状态稳定性理论的各种工具，证明了闭环系统在非线性动态效应的所有小系数下都是局部一致的输入到状态稳定。在实际交通条件下对异质CAV队列进行了数值试验，验证了该方法的有效性。
CAV platooning technology has received considerable attention, driven by the next generation smart transportation systems. This paper considers nonlinear vehicle dynamics and develops fully distributed optimization based CAV platooning control schemes via the platoon centered MPC approach for a possibly heterogeneous CAV platoon. The nonlinear vehicle dynamics leads to major difficulties in distributed algorithm development and control analysis. Specifically, the underlying MPC optimization problem is nonconvex and densely coupled. Further, the closed loop dynamics becomes a time-varying nonlinear system with non-vanishing external perturbations, making stability analysis rather complicated. To overcome these difficulties, we formulate the underlying MPC optimization problem as a locally coupled, albeit nonconvex, optimization problem and develop a sequential convex programming based fully distributed scheme for a general MPC horizon. Such a scheme can be effectively implemented for real-time computing using operator splitting methods. To analyze the closed loop stability, we apply various tools from global implicit function theorems, stability of linear time-varying systems, and Lyapunov theory for input-to-state stability to show that the closed loop system is locally input-to-state stable uniformly in all small coefficients pertaining to the nonlinear dynamic effects. Numerical tests on a heterogeneous CAV platoon in a real traffic condition illustrate the effectiveness of the proposed method.