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Open Access
Multi-Rate Switched Pinning Control for Velocity Control of Vehicle Platoons

Takuma WAKASA, Kenji SAWADA

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Summary :

This paper proposes a switched pinning control method with a multi-rating mechanism for vehicle platoons. The platoons are expressed as multi-agent systems consisting of mass-damper systems in which pinning agents receive target velocities from external devices (ex. intelligent traffic signals). We construct model predictive control (MPC) algorithm that switches pinning agents via mixed-integer quadratic programmings (MIQP) problems. The optimization rate is determined according to the convergence rate to the target velocities and the inter-vehicular distances. This multi-rating mechanism can reduce the computational load caused by iterative calculation. Numerical results demonstrate that our method has a reduction effect on the string instability by selecting the pinning agents to minimize errors of the inter-vehicular distances to the target distances.

Publication
IEICE TRANSACTIONS on Fundamentals Vol.E104-A No.11 pp.1461-1469
Publication Date
2021/11/01
Publicized
2021/05/12
Online ISSN
1745-1337
DOI
10.1587/transfun.2020KEP0009
Type of Manuscript
Special Section PAPER (Special Section on Circuits and Systems)
Category

Authors

Takuma WAKASA
  The University of Electro-Communications
Kenji SAWADA
  The University of Electro-Communications

Keyword