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

Content Provider	IET Digital Library
Author	Gao, Feng Li, Shengbo Eben Zheng, Yang Kum, Dongsuk
Abstract	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.
Starting Page	503
Ending Page	513
Page Count	11
ISSN	1751956X
Volume Number	10
e-ISSN	17519578
Issue Number	Issue 7, Sep (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/10/7
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2015.0205
Journal	IET Intelligent Transport Systems
Publisher Date	2016-09-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automobile Delay Delay Period Delay-dependent LMI Delay-dependent Lyapunov Function Distributed Controller Distributed Parameter Control System External Disturbances H-infinity Control Method Heterogeneous Vehicular Platoon Formation Highway Utility Improvement Highway Vehicle H∞ Control Linear Algebra Linear Fractional Transformation Format Linear Matrix Inequalities Linear Quadratic Control Linear Quadratic Function Lyapunov Method Numerical Analysis Optimal Control Performance Analysis Random Parameter Real-world Driving Condition Road Safety Road Safety Enhancement Road Traffic System Control Robust Control Robustness Stability in Control Theory String Stability Tracking Performance Traffic Efficiency Improvement Uncertain System Uncertain Vehicle Dynamics Uniform Communication Delay Vehicle Dynamics Vehicle Mechanics
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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