On <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" overflow="scroll" id="d1e2876" altimg="si4.gif"><mml:msub><mml:mrow><mml:mi mathvariant="script">L</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:math> string stability of nonlinear bidirectional asymmetric heterogeneous platoon systems

Monteil, Julien; Russo, Giovanni; Shorten, Robert

doi:10.1016/j.automatica.2019.03.025

Cited by 43 publications

(37 citation statements)

References 36 publications

(52 reference statements)

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“…2,3 Studies have shown that groups of vehicles driving at small intervehicle distances (i.e., grouped into platoons) can lead to reduced air drag and promote energy savings. 4,5 However, vehicle-following functionalities with small intervehicle distances pose the so-called string stability problem, 6,7 which refers to the problem of how such small intervehicle distances can be maintained throughout the platoon even in the presence of disturbances. Adaptive cruise control (ACC) 8 was one of the first technologies studied for vehicle-following functionality with one-vehicle look-ahead topology.…”

Section: Introductionmentioning

confidence: 99%

A minimal sensing and communication control strategy for adaptive platooning

Yang

Liu

2021

Adaptive Control & Signal

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Several cooperative driving strategies proposed in literature, sometimes known as cooperative adaptive cruise control strategies, assume that both relative spacing and relative velocity with preceding vehicle are available from on-board sensors (laser or radar). Alternatively, these strategies assume communication of both velocity states and acceleration inputs from preceding vehicle. However, in practice, on-board sensors can only measure relative spacing with preceding vehicle (since getting relative velocity requires additional filtering algorithms); also, reducing the number of variables communicated from preceding vehicle is crucial to save bandwidth. In this work we show that, after framing the cooperative driving task as a distributed model reference adaptive control problem, the platooning task can be achieved in a minimal sensing and communication scenario, that is, by removing relative velocity measurements with preceding vehicle and by removing communication from preceding vehicle of velocity states. In the framework we propose, vehicle parametric uncertainty is taken into account by appropriately designed adaptive laws. The proposed framework is illustrated and shown to be flexible to several standard architectures used in cooperative driving (one-vehicle look-ahead topology, leader-to-all topology, multivehicle look-ahead topology).

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Section: Introductionmentioning

confidence: 99%

A minimal sensing and communication control strategy for adaptive platooning

Yang

Liu

2021

Adaptive Control & Signal

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“…The string stability enable vehicle platoons to be able to attenuate the error signals when propagating down the vehicle string [7]. Specifically, if the system is string stable, then: (i) vehicles can attain and keep the desired configuration; (ii) the effects of disturbances are attenuated along the string [8].…”

Section: Introductionmentioning

confidence: 99%

“…For a thorough discussion about the relations and comparisons of the above three methods, survey paper [14] is recommended. Basically, for general nonlinear systems, the time-domain method is usually adopted by using the techniques of Lyapunov functions and eigenvalue analysis; e.g., see [8], [15]. For linear systems, the s-domain methods which construct transfer functions between the outputs and inputs of systems by Laplace transform and determine whether the H ∞ norm of the transfer function is smaller or equal to one, are commonly used; see, e.g., [5], [10], [16]- [18].…”

Section: Introductionmentioning

confidence: 99%

“…It is worth noting that investigating the case in which the leading vehicle is of varying speed with specific dynamics is very meaningful as it is the case of how a real vehicle moves. Authors in [8] designed a control protocol allowing to track a desired (possibly, non-constant) reference speed, i.e., the leader does not have a specific dynamics and is regarded as a state to be communicated to the followers directly. In [19], authors proposed a truck-platoon model in which the speed of the virtual truck is required to be known to all vehicles (including the leader) of the platoon.…”

Section: Introductionmentioning

confidence: 99%

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Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

Jiang,

Abolfazli,

Charalambous

2021

Preprint

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This paper studies the internal stability and string stability of a vehicle platooning of constant time headway spacing policy with a varying-speed leader using a multiple-predecessor-following strategy via vehicle-to-vehicle communication. Unlike the common case in which the leader's speed is constant and different kinds of Proportional-Integral-Derivative controllers are implemented, in this case, the fact that the leader has a time-varying speed necessitates the design of an observer. First, in order to estimate its position, speed and acceleration error with respect to the leader, each follower designs an observer. The observer is designed by means of constructing an observer matrix whose parameters should be determined. We simplifies the design of the matrix of the observer in such a way that the design boils down to choosing a scalar value. The resulting observer turns out to have a third order integrator dynamics, which provides an advantage of simplifying the controller structure and, hence, derive conditions for string stability using a frequency response method. A new heuristic searching algorithm is developed to deduce the controller parameter conditions, given a fixed time headway, for string stability. Additionally, a bisection-like algorithm is incorporated into the above algorithm to obtain the minimum (with some deviation tolerance) available value of the time headway by fixing one controller parameter. The effectiveness of the internal and string stabilities of the proposed observer-based controller is demonstrated via comparison examples.

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“…If the spacing error between successive vehicles converges to zero asymptotically, the platoon is internally stable (asymptotic stable) (Stüdli et al, 2018). Moreover, if the amplitude of spacing error between consecutive vehicles decreases along the platoon when an external disturbance is applied on lead vehicle, a vehicular platoon is string stable (Feng et al, 2019; Monteil et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Robust optimal control and identification of adaptive cruise control systems in the presence of time delay and parameter uncertainties

Chehardoli

2020

Journal of Vibration and Control

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This article deals with the robust optimal control and identification of uncertain adaptive cruise control systems. Both measurement delay and engine’s lag are investigated in system modeling and control design. The control structure consists of two steps. In the first step, by using a new approach, the uncertain parameters of longitudinal dynamics of each vehicle is identified. Afterwards, at the second step, by using the relative position and velocity measurement with respect to ahead vehicle, a robust control against size changing of platoon is presented to assure the internal stability, string stability, and safety of heterogeneous vehicular platoons. A cost function involving important metrics internal stability, maximum overshoot, and settling time is introduced, and the particle swarm optimization algorithm is used to find the optimal values of control parameters minimizing the cost function. It will be shown that the proposed robust controller guarantees the internal stability, string stability, and safety of adaptive cruise control systems in the presence of measurement and parasitic delays. Several simulation results are provided to show the effectiveness of the proposed approaches.

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On L∞ string stability of nonlinear bidirectional asymmetric heterogeneous platoon systems

Cited by 43 publications

References 36 publications

A minimal sensing and communication control strategy for adaptive platooning

A minimal sensing and communication control strategy for adaptive platooning

Observer-based Control for Vehicle Platooning with a Leader of Varying Speed

Robust optimal control and identification of adaptive cruise control systems in the presence of time delay and parameter uncertainties

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