Third-order safe consensus of heterogeneous vehicular platoons with MPF network topology: Constant time headway strategy

Abstract

In this paper the problem of centralized control of a platoon of non-identical vehicles under constant time headway strategy (CTHS) is investigated for multi predecessors following (MPF) topology. A centralized neighbor based linear control law using relative position and velocity is considered for each vehicle. Due to communication and parasitic delays and time-varying network topology, the closed-loop dynamics of platoon is in the form of a multiple delayed switched linear system. New approaches are developed to perform the internal stability analysis of one-dimensional heterogeneous vehicular platoons. Afterwards, sufficient conditions assuring the string stability of a platoon under MPF topology are obtained by presenting a new theorem. In continuance of the paper, some conditions on control parameters guaranteeing safety of the platoon in an emergency braking maneuver are presented through a new theorem. Several simulation results are provided to show the effectiveness of the proposed methods.

A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles

“…[136] also considered switching topology with finite dwell times but applied finite-time stabilization theory to CACC systems. Different from these studies, [137] considered CACC systems subject to arbitrary topology switching. Since the CACC system in consideration was stable under each topology, a common Lyapunov function can be designed for stability analysis.…”

“…Such analysis was further extended to the case of heterogeneous time delays in [29], [139]. To compare the Razumikhin-based and Krasovskii-based methods, [137] further designed a consensus-based controller and demonstrated the less conservatism of the latter method in the sense of a greater upper bound of time delays.…”

Modeling and Numerical Analysis on Communication Delay Boundary for CACC String Stability

“…Moreover, Chehardoli et al modeled the platoon as a multiple delayed linear system under various time-varying network topologies in order to handle communication and parasitic delays, in which both internal stability and string stability were investigated. An adaptive control law and a consensus approach were proposed [20]- [22]. The studies described above aimed to design a longitudinal controller to mitigate the influence of communication delay.…”

Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

“…In another paper, a controller for emergency braking was presented for collision avoidance in a platoon. In this third-order dynamical model, a centralized control methodology of the heterogeneous platoon method was investigated [45]. Here, both Lyapunov-Razumikhin and Lyapunov-Krasovskii theorems were applied to construct a common Lyapunov function for a constant time headway strategy.…”