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This article investigates sampled-data vehicular platoon control with communication delay. A new sampled-data control method is established, in which the effect of the communication delay is involved. First, a linearized vehicle longitudinal dynamic model is obtained using the exact feedback-linearization technique. Then, under the leader-predecessor following communication strategy, considering communication delay, a platoon control law is proposed based on sampled state information, which allows the weights of state errors to vary along the platoon. Complemented by additional string stability conditions, a useful string-stable platoon controller design algorithm is proposed. Finally, the effectiveness of platoon controller design methodology is demonstrated by numerical examples.

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SUMMARYThis paper investigates networked control systems where a number of actuators are involved but only a subset of them is assigned to be active at a time. The assignment of actuators is driven by a random event modeled as a Markov chain. When an actuator is not assigned access to the current control signal, either a zero or the output of a zero-order hold (ZOH) is used as the control signal. For both cases, a stability analysis and control design framework dependent on the states of the Markov chain is established for linear discrete systems. It is shown that the resulted sufficient and necessary stability condition for the zero-based system is more easily solvable than that of the ZOH-based case. Numerical examples have shown that the use of zero control may yield better performance than the ZOH strategy.

This paper investigates the problem of joint design of an output feedback controller and the medium access scheduling policy for networked control systems (NCSs). The capacity of communication networks on sensors side and actuators side are limited so that at any time the sensors and actuators cannot be accommodated simultaneously and that transmission delays are inevitable. The joint design problem is solved in three steps: determining communication sequences (called feasible sequences) for both sides that can preserve controllability and observability, respectively; designing output feedback controller without considering the effect of communication sequences; and setting up a rule that governs the switching between feasible communication sequences. Essentially, the first step is a static scheduling procedure that yields a set of feasible communication sequences for each side. The third step is a dynamic scheduling process resulting in a switching policy in line of a stability criterion of the closed-loop switching delay system. To show the effectiveness of the combined static and dynamic scheduling method, a numerical example is also provided.