Hybrid Platoon Control Based on Driving Characteristics

Research is being conducted on the problem of nonlinear cooperative formation control of unmanned vehicles, considering sensor failures. Firstly, a nonlinear cooperative control system model that incorporates sensor failures is being established. Secondly, a model predictive controller is being designed based on this model using the Lyapunov method and linear matrix inequalities (LMIs) to optimize the control performance metrics of the vehicle fleet. This approach ensures both the asymptotic stability and queue stability of the fleet while further enhancing its control performance. Lastly, the effectiveness and practicality of the algorithm are being validated through an experimental fleet constructed with Arduino serving as the control unit.