摘要：AbstractThis paper proposes a switched pinning control algorithm with an event-triggering mechanism. The target vehicle platoons are expressed by the multi-agent systems in which pinning agents receive target velocities from external devices. We construct a model predictive control (MPC) algorithm that switches pinning agents via mixed-integer quadratic programming (MIQP). The frequency of the switching, i.e., the solving of the MIQP problems is determined according to the convergence rate of vehicles to the target velocities. This event-triggering mechanism can reduce the calculation cost of the MPC in the steady. Moreover, our algorithm regroups platoons to the arbitrary ones by controlling the adjacent vector that expresses the adjacency between vehicles. As a result, our algorithm allows the external devices to form arbitrary platoons and control the velocity of each platoon while considering the calculation cost.
关键词：KeywordsMulti-Agent SystemsModel Predictive Control Consensus ControlPinning ControlEvent-Triggering mechanismIntelligent Transport SystemsMixed Dynamical System Model
