A RECEDING HORIZON SWITCHING CONTROL RESILIENT TO COMMUNICATION FAILURES FOR CONNECTED VEHICLES

This paper focuses on networked control systems subject to network-induced constraints, namely transmission delays and packet dropping. The proposed framework is based on a switching control logic which selects the optimal control action in a finite set of strategies tailored to a specific scenario. The switching logic relies on a receding horizon optimization - which resembles model predictive control - and does not require any prior knowledge on the condition of the network. This strategy is tested on a platoon of connected vehicles engaged in cooperative adaptive cruise control which communicate over an imperfect DSRC network. The main objective consists in avoiding unsafe scenarios where the network is subject to the aforementioned failures; results show the proposed approach achieves the objective whereas a nominal controller would lead the platoon to crash.