Cooperative Adaptive Cruise Control (CACC) is nowadays a promising technique to increase highway throughput, safety and comfort for vehicles. Enabled by wireless communication, CACC allows a platoon of vehicles to achieve better performance than Adaptive Cruise Control; however, since wireless is employed, problems related to unreliability arise. In this paper, we design a digital controller to achieve platoon stability, enhanced by an observer to increase robustness against packet losses. A preliminary set of simulation results is presented, which confirms the interest of using an observer in combination with a local and cooperative digital controller.
International audienceAverage consensus over unreliable wireless networks can be impaired by losses. In this paper we study a novel method to compensate for the lost information, when packet collisions cause transmitter-based random failures. This compensation makes the network converge to the average of the initial states of the network, by modifying the weights of the links to accommodate for the topology changes due to packet losses. Additionally, a gain is used to increase the convergence speed, and an analysis of the stability of the network is performed, leading to a criterion to choose such gain to guarantee network stability. For the implementation of the compensation method, we propose a new distributed algorithm, which uses both synchronous and asynchronous mechanisms to achieve consensus and to deal with uncertainty in packet delivery. The theoretical results are then confirmed by simulations
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