Centralized Model Predictive Control of a Vehicle Platoon
Detta är en Master-uppsats från KTH/Skolan för elektroteknik och datavetenskap (EECS)
Sammanfattning: A centralized model predictive controller for longitudinal control of a vehicleplatoon is designed based on previous work on a distributed platooningcontroller. The vehicles in the platoon track a varying speed referenceand a constant timegap to the preceding vehicle. The designed controller isimplemented and compared to the distributed controller in simulation experimentsand in a simple practical setup. The experiments show that thecontroller works but does in general not outperform the distributed controller.
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