Data-Mechanism Adaptive Switched Predictive Control for Heterogeneous Platoons With Wireless Communication Interruption

Benefiting from the advancement of intelligent transportation systems (ITSs), intelligent connected vehicles (ICVs) are ushering in a once-in-a-generation development opportunity. Considering the widespread presence of heterogeneous vehicles with disturbances and uncertain dynamics in actual platoon scenarios as well as the multimodel switching produced by unavoidable interruptions in the communication process, this paper proposes a data-mechanism adaptive switched predictive (DASP) control strategy. The characteristics of the mechanism model are mapped based on state data to more accurately describe the system's dynamic characteristics and improve the interpretability of variables. The introduction of Givens rotations and switching criteria enables online adaptive switching of the controller. A robustness analysis of heterogeneous platoon switching control under bounded disturbance is presented, and sufficient conditions for L-2 string stability are provided. Finally, CarSim simulations and real-time bench experiments are reported to demonstrate the effectiveness of the DASP algorithm for heterogeneous multivehicle regulation with communication interruptions.

Automated summary

This paper proposes a data-mechanism adaptive switched predictive (DASP) control strategy for intelligent connected vehicles. The strategy addresses the challenges of heterogeneous vehicles with disturbances and uncertain dynamics in platoon scenarios, as well as the multimodel switching caused by interruptions in communication. The use of Givens rotations and switching criteria enables online adaptive switching of the controller. Robustness analysis and simulations demonstrate the effectiveness of DASP algorithm for heterogeneous multivehicle regulation.