Mistuning-Based Control Design to Improve Closed-Loop Stability Margin of Vehicular Platoons

Abstract

Abstract-We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local information from itself and its two nearest neighbors. Each vehicle is modeled as a double integrator. To aid the analysis, we use continuous approximation to derive a partial differential equation (

Optimal Distributed Control for Platooning via Sparse Coprime Factorizations

“…Note that (61) results directly from the equation for the leader information controller of Corollary IV.8 by multiplying both sides to the left with the n × n diagonal TFM 13 To make the graphics more readable we have illustrated the case in which the constant time-headway policy has been removed, meaning that we considered H(s) = 1. See also the footnote related to Figure 5.…”

“…This shortcoming cannot be overcome by adding the relative distances with respect to multiple preceding vehicles to the measurements available to each sub-controller (multiple look-ahead schemes) [7], [8], nor can it be DRAFT overcome by including the successor's relative position (bi-directional control) [4], [5], without exacerbating the so-called accordion effect (or settling time) [17]. The heterogeneous controller tuning proposed [16], [6], [13] offers some benefits for string stability but only at the steep expense of the integral absolute error specification [17]. The authors of [26], [27], [28] proved that (unlike constant inter-vehicle policies) a class of interspacing policies dependent of the vehicle's velocity (dubbed "time-headways") can achieve string stability, but only for sufficiently large time-headways which will impair the "tightness" of the formation.…”

Event-triggered autonomous platoon control against probabilistic sensor and actuator failures

“…Since vehicles in a platoon are coupled, disturbances acting on one vehicle may inevitably affect the others, rendering spacing errors to amplify along the platoon which is called string instability [8,9]. Therefore, an important aspect of vehicle platoon control, beyond stabilizing each of the individual vehicles involved, is the problem of ensuring string stability, or stability of the platoon of vehicles as a whole.…”

“…To guarantee string stability and maintain the desired space, much research has been proposed in [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. As stated in [6], there have been two control strategies, i.e.…”

Analysis, Synthesis and Experiments of Networked Platoons with Communication Constraints

“…Up to now, control of platoon of vehicles has been researched in different aspects and from different viewpoints [4]. To name just a few, Barooah [5] introduced a mistuning-based control method to improve the stability margin of vehicular platoon; Dunbar and Derek [6] designed a distributed receding horizon controller and derived sufficient conditions to ensure string stability; Kianfar [7] performed platoon control in the real world, among many others.…”