Distributed H∞ Control Of Platoon Interacted by Switching and Undirected Topology

Gao, Feng; Lin, Fan-xia; Bao, Lianwei

doi:10.1007/s12239-020-0025-8

Cited by 18 publications

(13 citation statements)

References 25 publications

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“…A distributed adaptive control strategy has been proposed to ensure string stability for vehicle platoon system with dynamic uncertainty in [30]. A distributed H ∞ controller design methodology has been proposed for uncertain heterogeneous platoon systems with undirected topology in [12]. To ensure stability and robustness of the homogeneous platoons with undirected topology and external disturbances, an LMI based distributed H ∞ controller has been designed in [7].…”

Section: B Related Work On Controller Design Under Packet Drop And/or...mentioning

confidence: 99%

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Halder

Gillam

Dixit

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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This paper proposes a discrete time distributed state feedback controller design strategy for a homogenous vehicle platoon system with undirected network topology which is resilient to both external disturbances and random consecutive network packet drop. The system incorporates a distributed state feedback controller design by satisfying bounded H ∞ norm using Lyapunov-Krasovskii based linear matrix inequality (LMI) approach that ensures internal stability and performance. The effect of packet drops on internal stability in terms of stability margin are studied for a homogenous vehicle platoon system with undirected network topology and external disturbance. The variation of stability margin, representing absolute value of least stable close-loop pole, is also studied for two common undirected network topologies for vehicle platooning, i.e., bidirectional predecessor following (BPF) and bidirectional predecessor leader following (BPLF) topologies by varying platoon members, packet drop rates with number of contiguous packets dropped. Results demonstrate that the control strategy best satisfies the requirement of maintaining a desired inter-vehicular distance with constant spacing policy and leader trajectory using two network topologies: BPF and BPLF. We show how these topologies are robust in terms of ensuring internal stability and performance to maintain cooperative motion of vehicle platoon system with different number of followers, random multiple consecutive packet drops and external disturbance.

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Section: B Related Work On Controller Design Under Packet Drop And/or...mentioning

confidence: 99%

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Halder

Gillam

Dixit

et al. 2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

show abstract

“…Despite this technique being applicable for some practical control problems, the presence of hard nonlinear parameters, and/or system uncertainties, prevents conventional linear control representations from appropriately describing the original system, which deteriorates a system’s performance and accuracy. On the other hand, numerous nonlinear control systems, such as the conventional adaptive control [ 6 ],

control [ 7 ], and sliding mode control [ 6 , 8 ] with backstepping [ 3 , 4 , 9 , 10 ], have been designed to overcome the effects of uncertain nonlinear dynamics and unexpected external disturbances. That being said, sliding mode control (SMC) is considered one of the most robust nonlinear controllers developed to overcome uncertain dynamics.…”

Section: Introductionmentioning

confidence: 99%

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

et al. 2021

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The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved.

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“…Traffic light plays an important role in driving for both human and automatic driving [1]. The data from the Insurance Institute of Highway Safety shows that more than 890 people were killed by the crashes related to running red lights in 2017 [2].…”

Section: Introductionmentioning

confidence: 99%

Hybrid strategy for traffic light detection by combining classical and self‐learning detectors

Gao

Wang

2020

IET Intelligent Transport Systems

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Distributed H∞ Control Of Platoon Interacted by Switching and Undirected Topology

Cited by 18 publications

References 25 publications

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Hybrid strategy for traffic light detection by combining classical and self‐learning detectors

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Distributed H∞ Control Of Platoon Interacted by Switching and Undirected Topology

Cited by 18 publications

References 25 publications

Stability Analysis With LMI Based Distributed H ∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Stability Analysis With LMI Based Distributed H ∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Hybrid strategy for traffic light detection by combining classical and self‐learning detectors

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Product

Resources

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Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops