Modeling and Robust Control of Heterogeneous Vehicle Platoons on Curved Roads Subject to Disturbances and Delays

Xu, Liwei; Zhuang, Weichao; Yin, Guodong; Bian, Chentong; Wu, Huawei

doi:10.1109/tvt.2019.2941396

Cited by 70 publications

(53 citation statements)

References 26 publications

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“…There are several types of IFT as depicted in [28]. The most frequently used is predecessor following (PF) [7]- [12], [18], [20], [22], [23], [27], [30] and predecessor leader following (PLF) [13], [21], [29]. These IFT attracted many researchers because simple to implement and analyze.…”

Section: A Information Flow Topologymentioning

confidence: 99%

“…As result, in the platoon communication system, we only considered the simple form of latency and packet loss. This assumption is simple but widely used in pieces of literature that focused on platoon control as can be seen in [8], [9], [11][12][13], [20], [21], [26], [29], [30]. In the other research fields, focused on network control system (NCS), the interference, fading, and quantization effects are taking account when modeling the platoon communication system as presented in [31].…”

Section: Communication V2xmentioning

confidence: 99%

“…for both frameworks are defined in (32). The detail derivation of ( 28), (29), and ( 31) can be seen in Appendix.…”

Section: String Stabilitymentioning

confidence: 99%

“…Xu et al synthesized a H-infinity controller using Lyapunov-Krasovskii function to overcome with external disturbance and latency on the heterogeneous platoon [21]. In their next work, they integrated longitudinal and lateral controllers [29]. Nunen et al employed robust model predictive control (MPC) on the heterogeneous platoon [23].…”

Section: Introductionmentioning

confidence: 99%

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Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

Hidayatullah

Juang

2021

IEEE Access

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Platooning vehicles are beneficial in comfortable driving, safety, and enhanced transportation efficiency. Platooning vehicles with cooperative adaptive cruise control (CACC) mode can potentially result in a small distance between vehicles with assured string stability. This CACC-based platoon control can be realized by vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X) communication between vehicles. In this regard, the distributed control framework is widely used. It claims robustness to communication uncertainties since each vehicle has its controller. With the rapid research on V2X, the centralized framework is another option for the platooning vehicle control framework. This paper investigates and analyzes the centralized and distributed control framework under platoon uncertainty. In most of the papers, the platoon uncertainty is considered as road slope and vehicle dynamics model. In this paper, the platoon uncertainty refers to the platoon types, namely homogeneous and heterogeneous platoon. The analytical platoon stability is studied for both frameworks under different platoon types. It gives the minimum time gap boundary to guarantee string stability for both frameworks. The numerical string stability is performed by the simulation to verify the analytical. The simulation is done using the integrated PreScan and Matlab/Simulink. Then, the robustness of both frameworks is evaluated under latency and packet loss. Finally, the performance of both frameworks is also evaluated.

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Section: A Information Flow Topologymentioning

confidence: 99%

Section: Communication V2xmentioning

confidence: 99%

“…for both frameworks are defined in (32). The detail derivation of ( 28), (29), and ( 31) can be seen in Appendix.…”

Section: String Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

Hidayatullah

Juang

2021

IEEE Access

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“…Delays in vehicle platoons have recently attracted substantial research attention. Various control policies have been designed for diverse objectives under certain delays, such as the achievement of consensus [11], the robustness for formation changes and control [12], [13], the consensus of vehicles and their consistency with traffic flow theory [14], coping with the curves and slopes of roads [15], [16], and spacing [17]. There have also been several studies concerning the combination of control and delay bounds under stable conditions [6], [18]- [20].…”

Section: Related Workmentioning

confidence: 99%

Reducing the Standstill Spacing and Duration of Safe Braking Control in Vehicle Platoons With Delays

Meng

Wang

2020

IEEE Access

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Braking control, especially in an emergency, is a key technology that is needed to ensure safety in vehicle platoons. However, delays in vehicle platoons can severely affect braking control. This paper proposes an optimized braking control to reduce the standstill spacing and braking duration during delays so that a platoon will stop within a short time frame with a reduced length, thus improving road utilization while ensuring both inter-vehicle and in-vehicle safety. However, two challenges need to be addressed. First, due to the delay in car-following interactions and the nonlinearity of the control law, an analysis model is needed to quantize the duration and distance during an emergency braking with delays. Second, the optimization of these control parameters is an NP-hard problem. Therefore, delay differential equations are introduced to model the braking process, and a crossing criterion is introduced to establish the relationship between the control law and the braking process. The propositions of standstill spacing and braking duration are then derived based on the Runge-Kutta method. According to these criteria, a particle swarm optimization (PSO) based on a lexicographic method with a penalty function is introduced to provide a solution framework with polynomial complexity. Simulation results verify the accuracy of the braking modeling process. Moreover, the results verify the performance of the proposed algorithm and provide a reference for platoon control.

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Adaptive fixed‐time prescribed performance control of vehicular platoons with unknown dead‐zone and actuator saturation

Gao

Zhang

Guo

2022

Intl J Robust & Nonlinear

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This article focuses on the problem of fixed‐time prescribed performance platoon control for heterogeneous vehicles with unknown dead‐zone and actuator saturation. First, an equivalent transformation is developed to approximate the actuator nonlinearity (i.e., dead‐zone and saturation), which reduces the complexity of controller design. Then, to guarantee the tracking errors converge to the predetermined region in the given time, a modified prescribed performance function is presented. Based on this, a novel adaptive sliding mode control scheme is developed in the context of fixed‐time theory, which is proved to be capable of ensuring individual vehicle stability and string stability in fixed time. In addition, under the proposed control scheme, the convergence time is independent of initial conditions of the system. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

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Modeling and Robust Control of Heterogeneous Vehicle Platoons on Curved Roads Subject to Disturbances and Delays

Cited by 70 publications

References 26 publications

Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

Centralized and Distributed Control Framework Under Homogeneous and Heterogeneous Platoon

Reducing the Standstill Spacing and Duration of Safe Braking Control in Vehicle Platoons With Delays

Adaptive fixed‐time prescribed performance control of vehicular platoons with unknown dead‐zone and actuator saturation

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