HD-RMPC: A Hierarchical Distributed and Robust Model Predictive Control Framework for Urban Traffic Signal Timing

Figure 12

Average vehicle delay variation in each subarea during the simulation when . Figures (a)–(c) are the results of subareas 1, 2, and 3, respectively, and (d) shows the average value of the whole network.

(a)

(b)

(c)

(d)