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In this paper, the vehicle platoon control problems for a group of heterogeneous vehicles are investigated, where the multiple constraints of the vehicles and the communication delays among the vehicles are taken into consideration. A distributed model predictive control (DMPC) scheme is proposed to drive the heterogeneous vehicles into the desired platoon. In this DMPC framework, the multiple constraints, including the control constraints, state constraints, and jerk constraints, are employed to describe the practical characteristics of vehicles and the communication delays are time-varying and bounded. In this framework, a group of platoon control schemes is proposed based on the DMPC techniques. Furthermore, the feasibility and stability of the proposed vehicle platoon control system are strictly analyzed. Finally, numerical simulation and experiment with TurtleBot3 mobile robots are provided to validate the effectiveness of proposed approaches.

Distributed Model Predictive Control for Platooning of Heterogeneous Vehicles with Multiple Constraints and Communication Delays