A Comparison Benchmark for Distributed Hybrid MPC Control Methods: Distributed Vehicle Platooning

TL;DR

This paper introduces a benchmark problem for evaluating distributed hybrid MPC methods using autonomous vehicle platooning, providing a complex case study for future research in hybrid systems control.

Contribution

It proposes a benchmark problem with hybrid vehicle models and evaluates five hybrid MPC controllers, facilitating comparison and development of distributed hybrid MPC schemes.

Findings

Five hybrid MPC controllers evaluated extensively

Hybrid vehicle models developed for the benchmark

Highlights need for more efficient distributed hybrid MPC methods

Abstract

Distributed model predictive control (MPC) is currently being investigated as a solution to the important control challenge presented by networks of hybrid dynamical systems. However, a benchmark problem for distributed hybrid MPC is absent from the literature. We propose distributed control of a platoon of autonomous vehicles as a comparison benchmark problem. The problem provides a complex and adaptable case study, upon which existing and future approaches to distributed MPC for hybrid systems can be evaluated. Two hybrid modeling frameworks are presented for the vehicle dynamics. Five hybrid MPC controllers are then evaluated and extensively assessed on the fleet of vehicles. Finally, we comment on the need for new efficient and high performing distributed MPC schemes for hybrid systems.