Multiobjective DMPC for Heterogeneous Electric Vehicle Platoons With Communication Delay Under Switching Communication Topology

This article focuses on the multi-objective distributed control problem of nonlinear electric vehicle (EV) platoons with communication delay and switching communication topology. We propose a multi-objective distributed model predictive control (MO-DMPC) strategy that systematically coordinates economic, tracking and collaborative performance. To address the uncertain communication delay between vehicles, the upper bound of the delay in the worst case is introduced and the delayed neighbor state information is formulated through the receding horizon theory. Through constructing a cost function and lexicographic constraints, the multi-objective optimization problem of EV platoon is obtained and solved, which associates tracking optimization problems with economic optimization problems. A series of sufficient conditions are established to guarantee the internal stability and string stability of the EV platoon. A set of comparative simulation experiments demonstrate the tracking optimization effect of the algorithm and its advantages in saving energy.