Model Predictive Cruise Control of Heterogeneous Vehicle Systems

In this paper, a new robust model predictive control (MPC) approach is proposed for Cooperative Adaptive Cruise Control (CACC) of heterogeneous connected vehicle systems. Firstly, considering the limited range of vehicle-to-vehicle (V2V) communication, a new state space model of CACC heterogeneous vehicle system is established, which includes uncertainties, input constraints, and time-varying delays. Then, a robust model predictive cruise controller is designed based on an optimization with linear matrix inequality (LMI), and the stability of the closed-loop system is analyzed by using the Lyapunov-Krasovskii approach. The simulation result shows that the proposed controller has good performance.