Design, analysis and performance evaluation of a third order distributed protocol for platooning in the presence of time-varying delays and switching topologies

Salvi, Alessandro; Santini, Stefania; Valente, Antonio Saverio

doi:10.1016/j.trc.2017.04.013

Cited by 82 publications

(39 citation statements)

References 37 publications

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“…Let us now study the stability of the closed-loop system (8). First, using the homogeneity theory, let us derive sufficient conditions for the design of control (6) such that the consensus is achieved in a fixed time under switching topologies.…”

Section: Convergence Analysis Under Consensus Protocol (6)mentioning

confidence: 99%

“…Lemma 2. The vector field of (8) is homogeneous in the 0−limit with degree d 0 = −1 < 0 and homogeneous in the +∞-limit with degree d ∞ = qk − 1 > 0 with respect to the standard dilation.…”

Section: Convergence Analysis Under Consensus Protocol (6)mentioning

confidence: 99%

“…Remark 10. There exist contributions in the literature presenting some apparent advantages when compared to our current proposal, such as fixed-time consensus under jointly connected graphs, 23 second-order finite-time consensus, 10 or consensus under communication delays, 8,9,60 to name a few. However, such works do not consider disturbances affecting the agents and, more importantly, they do not guarantee that consensus is reached before a finite time, which could be easily arbitrarily preassigned.…”

Section: Convergence Analysis Under Consensus Protocol (7)mentioning

confidence: 99%

“…In cooperative control, a fundamental challenge is the consensus problem, whose objective is to design decentralized protocols such that all the agents, in the network, interact with their neighbors to reach a common value, called the consensus equilibrium. Many decentralized consensus‐based methods have been applied, for instance, to flocking, formation control, distributed resource allocation, and vehicle platooning . Two consensus problems have been mainly addressed: the leader‐follower consensus problem, where the agents along the network converge to the state of the leader (real or virtual) that communicates its state only to a subset of agents; and the leaderless consensus problem, where the consensus equilibrium is a function of the initial conditions of the agents, for instance, achieving consensus to the average value, the average min‐max value, the median value, and the maximum or minimum value of the agents' initial conditions.…”

Section: Introductionmentioning

confidence: 99%

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A class of robust consensus algorithms with predefined‐time convergence under switching topologies

Aldana‐López

Gómez‐Gutiérrez

Defoort

et al. 2019

Intl J Robust & Nonlinear

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Summary This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multiagent systems in a predefined time. Namely, the protocol design provides a tuning parameter that allows setting the convergence time of the agents to a consensus state. An appropriate Lyapunov analysis exposes the capability of the current proposal to achieve predefined‐time consensus over switching topologies despite the presence of bounded perturbations. Finally, this paper presents a comparison showing that the suggested approach subsumes existing fixed‐time consensus algorithms, which allows to provide extra degrees of freedom to obtain predefined‐time consensus protocols with improved convergence characteristics, for instance, to reduce the slack between the true convergence time and the predefined upper bound. Numerical results are given to illustrate the effectiveness and advantages of the proposed method.

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Section: Convergence Analysis Under Consensus Protocol (6)mentioning

confidence: 99%

Section: Convergence Analysis Under Consensus Protocol (6)mentioning

confidence: 99%

Section: Convergence Analysis Under Consensus Protocol (7)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A class of robust consensus algorithms with predefined‐time convergence under switching topologies

Aldana‐López

Gómez‐Gutiérrez

Defoort

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…To obtain the time delay stability margin, most literatures analyse the closed-loop system of the vehicular platoon and recognize the entire vehicular platoon as a consensus system [14]. For the stability analysis problem of the consensus system with time delay, the majority of the existing studies usually utilize Lyapunov-Krasovskii methodology [15,16], Lyapunov-Razumikin methodology [12,17], and generalised Nyquist criterion [18,19]. However, these studies can provide only sufficient conditions, which are relatively conservative and fail to find the exact time delay stability margin.…”

Section: Introductionmentioning

confidence: 99%

Computation of Time Delay Stability Margin for the Automated Vehicular Platoon

Zhang

Zhu

2020

Complexity

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Due to the limited band width and congestion of communication channels in the wireless vehicle-to-vehicle (V2V) communication, time delay inevitably arises and dramatically leads to the disturbances for the automated vehicular platoon. This paper focuses on computing the exact time delay stability margin. In this study, we treat this problem as a stability issue of a consensus system with time delay, where each vehicle in the platoon is recognized as a node, and the interconnected information flow is represented as a graph. Then, the distributed controller is designed by combining the states of the vehicle itself and its neighbouring vehicles. Furthermore, the stability of the entire platoon is analysed according to the characteristic equation of the closed-loop system, and a necessary and sufficient condition for the exact time delay stability margin is obtained. Especially, for the automated vehicular platoon with undirected topology, it is revealed that exact time delay stability margin is determined by the largest eigenvalue of the augmented Laplacian matrix. Furthermore, a rapid method for finding exact time delay stability margin is proposed. Finally, numerical simulations demonstrate that this work generates exact and satisfactory time delay stability margin for the automated vehicular platoon.

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A collaborative approach for improving the security of vehicular scenarios: The case of platooning

Petrillo

Pescapè

Santini

2018

Computer Communications

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Design, analysis and performance evaluation of a third order distributed protocol for platooning in the presence of time-varying delays and switching topologies

Cited by 82 publications

References 37 publications

A class of robust consensus algorithms with predefined‐time convergence under switching topologies

A class of robust consensus algorithms with predefined‐time convergence under switching topologies

Computation of Time Delay Stability Margin for the Automated Vehicular Platoon

A collaborative approach for improving the security of vehicular scenarios: The case of platooning

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