Optimization on the Coefficients of Multi-node Bilateral Control Model

Bilateral control, which can be realized only by sensors, can suppress the disturbance and ensure the stability of the vehicles. Considering the use of wireless communication between vehicles, bilateral control is extended to multi-node bilateral control, and it’s become a vital issue that how to determine the weight coefficient of different vehicle node information in the control strategy. By adjusting the weight of vehicle node in the control strategy, the ability of the system to damp out perturbations can be further improved, and the traffic stream can accomplish steady state more efficiently. In this paper, we compared the properties of different types objective functions and gave the weight coefficients with the least square method to approximate the objective function. Meanwhile, the stability of the system is guaranteed. It is found that bell curve makes the generated coefficients more in line with the optimization direction by adjusting the parameters, i.e., 1) make approximation function smaller; 2) make smaller approximation function cover wider frequency range. The formula of the generating coefficient was obtained, and the parameter range of its stability was determined by mathematical proof. Finally, the performance comparison of traffic stream under different coefficient programs in numerical simulation validated the previous analysis.