Consensus Based Platoon Algorithm for Velocity-Measurement-Absent Vehicles with Actuator Saturation

Abstract

We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches.

Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon

“…Proof. By applying the Schur Complement Theorem to (21), the following inequality establishes for ∀ = 1, 2, ⋅ ⋅ ⋅ :…”

“…This synthesis method has been extended to general, but eigenvalue decomposition known topologies in [20]. The problem of actuar saturation and velocity absent is considered by using the consensus theory [21]. To relax the contradiction between performances and uncertainties of the system with a fixed parameter controller, adaptive algorithms have also been applied to platoon interacting by bidirectional [22] or leaderfollower topologies [23], respectively.…”

Leader-Follower Consensus of Second-Order Multiagent Systems with Absent Velocity Measurement and Time Delay

“…The main reason lies in that the position information can only guarantee the position consensus of multiagent systems, whereas the velocity consensus cannot be ensured. By using the auxiliary system (11) proposed in this paper, the unavailable velocity information can be estimated and hence the velocity consensus can be achieved.…”

“…Among the present literatures on consensus problem, the leader-follower consensus is the most extensively investigated due to its potential applications in many fields, such as the coordinated path tracking of unmanned aerial vehicles (UAVs) [9], the cooperative patrolling of unmanned ground vehicles (UGVs) [10], or the platoon control of intelligent and connected vehicles (ICVs) [11], where followers are required to follow the leader's behavior to fulfill some scheduled tasks. In [12], a consensus based flocking algorithm is proposed with a virtual reference leader.…”

An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

“…In the literature, several observer-based consensus control algorithms are introduced for multi-agent systems in [17]- [19] and for platoon systems in [20]. However, these works use the observer to estimate the velocity of either the ego agent or the other vehicles by using the communication links among the agents.…”