Delayed Feedback MPC Algorithms of Vehicle Platoons Subject to Constraints on Measurement Range and Driving Behaviors

The control problem of vehicle platoons considering sensors with limited measurement range and actuator time delay is investigated in the face of constraints. A new delayed feedback model predictive control scheme is proposed to solve the problem while satisfying the constraints on measurement range and driving behaviors. A family of controllers is presented with free parameters which are then computed by online solving of a receding horizon optimal control problem. Terminal equality constraints are adopted to guarantee stability of the closed-loop system. Some sufficient conditions with guaranteed string stability of the platoon and zero steady-state error are established. The effectiveness and advantages of the presented method are demonstrated by simulating two classical road scenarios.