A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004a.svgz" name="9852721.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Nominal MPC actual acceleration</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004b.svgz" name="9852721.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Nominal MPC relative speed</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004c.svgz" name="9852721.fig.004c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Nominal MPC gap error</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004d.svgz" name="9852721.fig.004d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>MM-MPC actual acceleration</td></tr><tr class="fig-image" id="e"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004e.svgz" name="9852721.fig.004e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>MM-MPC relative speed</td></tr><tr class="fig-image" id="f"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/9852721/figures/9852721.fig.004f.svgz" name="9852721.fig.004f" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(f) </b>MM-MPC gap error</td></tr></table>

<div>Comparison of nominal MPC (<svg height="12.1266pt" id="M239" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -11.9202 43.8199 12.1266" width="43.8199pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z" id="g113-241"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.282,-5.741)"><path d="M722 32C646 41 636 48 622 116L544 496L509 667L472 658L153 123C106 45 93 42 27 32L18 0H259L268 32C178 40 172 48 204 107L272 233H509C523 180 533 137 540 96C548 50 546 39 466 32L457 0H714L722 32ZM502 283H299L448 547H450L502 283Z" id="g50-66"></path></g><g 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Journal of Advanced Transportation

fig4

Figure 4

Figure 4: A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays 