Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays
This paper presents a robust control method for heterogeneous vehicle platoon subject to varying road slopes, aerodynamic drag, and wireless communication delay. First, a heterogeneous vehicle platoon is built, including parameter uncertainty, equivalent communication delay, network-induced delay ca...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8531613/ |
| _version_ | 1818415275797643264 |
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| author | Liwei Xu Weichao Zhuang Guodong Yin Chentong Bian |
| author_facet | Liwei Xu Weichao Zhuang Guodong Yin Chentong Bian |
| author_sort | Liwei Xu |
| collection | DOAJ |
| description | This paper presents a robust control method for heterogeneous vehicle platoon subject to varying road slopes, aerodynamic drag, and wireless communication delay. First, a heterogeneous vehicle platoon is built, including parameter uncertainty, equivalent communication delay, network-induced delay caused by discrete data in sensor and wireless communication, and external disturbance (i.e., road slope and wind). Second, a Lyapunov-Krasovskii functional-based H<sub>∞</sub> controller is designed to generate the statefeedback control which could ensure inner-vehicle stability and string stability of platoon simultaneously. Third, L<sub>2</sub> string stability is proposed to ensure the platoon stability that guarantees the perturbations that do not grow unbounded as they propagate through the platoon. Simulation results indicate the proposed robust controller achieves tracking of desired inter-vehicle spacing and string stable of platoon while comparing with the regular string stability controller. |
| first_indexed | 2024-12-14T11:32:25Z |
| format | Article |
| id | doaj.art-236e99909cc34f06bae5d14d5e59013d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T11:32:25Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-236e99909cc34f06bae5d14d5e59013d2022-12-21T23:03:13ZengIEEEIEEE Access2169-35362018-01-016697946980610.1109/ACCESS.2018.28805728531613Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information DelaysLiwei Xu0https://orcid.org/0000-0003-0410-917XWeichao Zhuang1Guodong Yin2Chentong Bian3School of Mechanical Engineering, Southeast University, Nanjing, ChinaSchool of Mechanical Engineering, Southeast University, Nanjing, ChinaSchool of Mechanical Engineering, Southeast University, Nanjing, ChinaSchool of Mechanical Engineering, Southeast University, Nanjing, ChinaThis paper presents a robust control method for heterogeneous vehicle platoon subject to varying road slopes, aerodynamic drag, and wireless communication delay. First, a heterogeneous vehicle platoon is built, including parameter uncertainty, equivalent communication delay, network-induced delay caused by discrete data in sensor and wireless communication, and external disturbance (i.e., road slope and wind). Second, a Lyapunov-Krasovskii functional-based H<sub>∞</sub> controller is designed to generate the statefeedback control which could ensure inner-vehicle stability and string stability of platoon simultaneously. Third, L<sub>2</sub> string stability is proposed to ensure the platoon stability that guarantees the perturbations that do not grow unbounded as they propagate through the platoon. Simulation results indicate the proposed robust controller achieves tracking of desired inter-vehicle spacing and string stable of platoon while comparing with the regular string stability controller.https://ieeexplore.ieee.org/document/8531613/Heterogeneous vehicle platoonplatoon controlrobustnessstring stability |
| spellingShingle | Liwei Xu Weichao Zhuang Guodong Yin Chentong Bian Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays IEEE Access Heterogeneous vehicle platoon platoon control robustness string stability |
| title | Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays |
| title_full | Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays |
| title_fullStr | Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays |
| title_full_unstemmed | Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays |
| title_short | Stable Longitudinal Control of Heterogeneous Vehicular Platoon With Disturbances and Information Delays |
| title_sort | stable longitudinal control of heterogeneous vehicular platoon with disturbances and information delays |
| topic | Heterogeneous vehicle platoon platoon control robustness string stability |
| url | https://ieeexplore.ieee.org/document/8531613/ |
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