This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.

翻译：本文提出了一种适用于异构车队的分布式模型预测控制算法，该算法支持任意通信拓扑，前提是每辆车均能与车队中的前车通信。所提出的DMPC算法能够兼容车辆速度的任意仿射间距策略，包括恒定距离或恒定时间车头距策略。通过分析整个车队的总体成本，推导出确保车队渐近稳定性的充分条件。采用50辆车队的仿真实验和四辆1/10比例模型车队的硬件实验验证了该算法，并比较了不同间距策略与通信拓扑下的性能表现。