著者

Takuma WAKASA Kenji SAWADA

出版者

The Institute of Electronics, Information and Communication Engineers

雑誌

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences (ISSN:09168508)

巻号頁・発行日

pp.2020KEP0009, (Released:2021-05-12)

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This paper proposes a switched pinning control method with a multi-rating mechanism for vehicle platoons. The platoons are expressed as multi-agent systems consisting of mass-damper systems in which pinning agents receive target velocities from external devices (ex. intelligent traffic signals). We construct model predictive control (MPC) algorithm that switches pinning agents via mixed-integer quadratic programmings (MIQP) problems. The optimization rate is determined according to the convergence rate to the target velocities and the inter-vehicular distances. This multirating mechanism can reduce the computational load caused by iterative calculation. Numerical results demonstrate that our method has a reduction effect on the string instability by selecting the pinning agents to minimize errors of the inter-vehicular distances to the target distances.