Robust Stability Analysis for Connected Vehicle Systems

Hajdu, Dávid; Zhang, Linjun; Insperger, Tamás; Orosz, Gábor

doi:10.1016/j.ifacol.2016.07.516

Cited by 11 publications

(7 citation statements)

References 9 publications

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“…where Y i (s) is the Laplace transform of the state Xi (t) in (21). The function G i,j is called the link transfer function, which acts as a dynamic weight along the link between vehicles i and j [34]. Consequently, by substituting ( 7) in (36), G i,j can be written as…”

Section: String Stabilitymentioning

confidence: 99%

Dynamics of Physical Autonomous Robotic Network With Constant And Time-Varying Communication Delays

Hsueh

Al-Darabsah

Janaideh

et al. 2021

Preprint

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A Connected Autonomous Vehicle Network (CAVN) is an emerging paradigm that can reduce traffic congestion by allowing vehicles to cooperatively behave according to information out of the line of sight and improve traffic flow by decreasing inter-vehicular gaps on roadways. In this paper, the stability of CAVN with constant and time-varying communication delays is studied. When the time delay depends on time, the semi-discretization method is used to study the plant stability of the flow equilibrium of CAVN and construct approximate stability regions charts over control gain space. To study the influence of time-varying delay, a constant delay is considred as the average value of the time delay function. Then, explicit sufficient conditions are provided for the stability of the flow equilibrium and study the string stability of the CAVN. The proposed controller is validated using simulations and experimentally with a platoon of four autonomous robots under time-varying delays.

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Section: String Stabilitymentioning

confidence: 99%

Dynamics of Physical Autonomous Robotic Network With Constant And Time-Varying Communication Delays

Hsueh

Al-Darabsah

Janaideh

et al. 2021

Preprint

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“…Components not utilizing all of the communication channels in this range are described by appropriate zero columns in (4). Model structure (2) covers all the LTI systems considered in the cited papers, including (cooperative) adaptive cruise control (Ploeg et al, 2014), and connected cruise control (Hajdu et al, 2016) applications. Fig.…”

Section: Interconnection Topologymentioning

confidence: 99%

“…The presented approach differs from those of the literature also in the following. Although head-totail transfer matrices (Hajdu et al, 2016) could be defined and inspected based on the closed form solution (7)-(8) to (5), string stability is deduced based on the parameter dependent state-space matrices of (5).…”

Section: Description Of Heterogeneous Stringsmentioning

confidence: 99%

Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems

Rödönyi

2019

Automatica

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One-dimensional formations of unidirectionally interconnected heterogeneous, multiple-input multiple-output (MIMO) linear time-invariant (LTI) systems are studied in terms of the spatial propagation of initial conditions, disturbances and reference inputs. The proposed mixed frequency-domain and complex state-space formulation of the string leads to the stability theory of switching and uncertain polytopic systems, and so the tools available there can be adopted for the analysis of interconnected systems. It is shown based on this analogy that in certain important cases string stability conditions for homogeneous and heterogeneous interconnected systems coincide. In addition to presenting general string (in)stability conditions, the necessity of introducing the notion of string performance is demonstrated. Special attention is devoted to interconnected rank one systems, i.e., systems whose transfer matrices are of rank one. The topic is motivated by car following problems for which the available analysis tools fail to provide appropriate heterogeneous string stability conditions. A cooperative adaptive cruise control (CACC) example is presented to illustrate the usefulness of the approach.

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“…We finally turn our attention to the platoon of five vehicles. In this scenario depicted in Figure 19, the dynamic representation of the fourth CCC vehicle is The matrices A and B can be determined through equation (11), which is clearly in the form of the delay differential equation (1).…”

Section: Modeling Five Vehicles With CCCmentioning

confidence: 99%

“…Current results in the frequency domain include stability charts, which show plant and string stable regions. They also study problems such as connectivity structures, 5 stochastic communication delays, 4 and uncertainties in control gains and delays, 11 to name a few.…”

Section: Introductionmentioning

confidence: 99%

Connected cruise control of a car platoon: A time-domain stability analysis

Juárez

Mondié

Cuvas

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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A compact representation of a vehicle platoon following model considering the headway, velocity, and vehicle-to-vehicle communication delay is presented. Then, a connectivity structure is selected, which includes vehicles equipped with connected cruise control and a conventional vehicle as the leader. The platoon exponential stability and its robust stability with respect to time-varying matrix perturbations are studied. The analysis is carried out in the time domain, via Lyapunov-Krasovskii functionals depending on the delay Lyapunov matrix. The stability results are illustrated by stability charts of the plane of control gain parameters. A total of three platoon illustrative vehicle scenarios show the interest of the approach.

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Robust Stability Analysis for Connected Vehicle Systems

Cited by 11 publications

References 9 publications

Dynamics of Physical Autonomous Robotic Network With Constant And Time-Varying Communication Delays

Dynamics of Physical Autonomous Robotic Network With Constant And Time-Varying Communication Delays

Heterogeneous string stability of unidirectionally interconnected MIMO LTI systems

Connected cruise control of a car platoon: A time-domain stability analysis

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