Robust control of heterogeneous vehicular platoon with uncertain dynamics and communication delay

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Platoon formation of highway vehicles has the potential to significantly enhance road safety, improve highway utility, and increase traffic efficiency. However, various uncertainties and disturbances that are present in real-world driving conditions make the implementation of vehicular platoon a challenging problem. This study presents an H-infinity control method for a platoon of heterogeneous vehicles with uncertain vehicle dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are systematically measured by the H-infinity norm, and explicitly satisfied by casting into the linear fractional transformation format. A delay-dependent linear matrix inequality is derived to numerically solve the distributed controllers for each vehicle. The performances of the controlled platoon are theoretically analysed by using a delay-dependent Lyapunov function which includes a linear quadratic function of states during the delay period. Simulations with a platoon of heterogeneous vehicles are conducted to demonstrate the effectiveness of the proposed method under random parameters and external disturbances
Publisher
INST ENGINEERING TECHNOLOGY-IET
Issue Date
2016-09
Language
English
Article Type
Article
Keywords

ADAPTIVE CRUISE CONTROL; AUTOMATED HIGHWAY SYSTEMS; LONGITUDINAL CONTROL; VEHICLES; DESIGN; STABILITY

Citation

IET INTELLIGENT TRANSPORT SYSTEMS, v.10, no.7, pp.503 - 513

ISSN
1751-956X
DOI
10.1049/iet-its.2015.0205
URI
http://hdl.handle.net/10203/213584
Appears in Collection
GT-Journal Papers(저널논문)
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