Stable drift-plus-penalty collaborative tracking control for connected logistics platoons based on speed planning

To address the coordinated control problem of safety and comfort for connected logistic fuel cell hydrogen electric vehicles platoons in a vehicle-following environment, a Lyapunov drift-plus-penalty cooperative tracking control strategy based on speed planning is proposed. The designed algorithm is structured into two layers, the upper-layer controller, which aims to optimize energy consumption and comfort, utilizes the sequential quadratic programming algorithm to plan the overall future speed trajectory of the platoon of fuel cell hydrogen electric vehicles, while adhering to constraints on traction force and speed. The lower-layer controller focuses on platoon stability, employing Lyapunov optimization principles to transform the long-term stability control problem into a constrained optimization problem for each time slice. Using the drift-plus-penalty algorithm, the minimum Lyapunov drift and the objective function are resolved to establish the control command for tracking the platoon’s position and speed trajectory. The proposed speed-planning-based distributed nonlinear fuel cell hydrogen electric vehicles platoon control strategy achieves low computational cost, enhanced comfort, and improved energy efficiency. Simulation results demonstrate that, compared to existing classical algorithms, the proposed speed-planning-based platoon control algorithm achieves higher computational efficiency, better comfort, and optimal fuel economy.