Fully Distributed Optimization based CAV Platooning Control under Linear Vehicle Dynamics

TL;DR

This paper introduces fully distributed optimization schemes for CAV platooning control that operate without centralized data processing, utilizing model predictive control and operator splitting methods to ensure stability and performance.

Contribution

It develops a novel fully distributed control framework for CAV platooning that eliminates the need for centralized computation, unlike previous partially distributed schemes.

Findings

The proposed schemes achieve stable platoon control with desired transient performance.

Numerical tests confirm the effectiveness and stability of the fully distributed control methods.

The new formulation and decomposition method facilitate scalable distributed optimization.

Abstract

This paper develops distributed optimization based, platoon centered CAV car following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV platooning. However, most existing distributed schemes for platoon centered CAV control require either centralized data processing or centralized computation in at least one step of their schemes, referred to as partially distributed schemes. In this paper, we develop fully distributed optimization based, platoon centered CAV platooning control under the linear vehicle dynamics via the model predictive control approach with a general prediction horizon. These fully distributed schemes do not require centralized data processing or centralized computation through the entire schemes. To develop these schemes, we propose a new formulation of the objective function and a decomposition method that decomposes a densely coupled central objective function into the sum of several locally coupled functions whose coupling satisfies the network topology constraint. We then exploit the formulation of locally coupled optimization and operator splitting methods to develop fully distributed schemes. Control design and stability analysis is carried out to achieve desired traffic transient performance and asymptotic stability. Numerical tests demonstrate the effectiveness of the proposed fully distributed schemes and CAV platooning control.