Consensus Based Control Algorithm for Vehicle Platoon with Packet Losses

Distributed Controller Design for Vehicle Platooning under Packet Drop Scenario

“…It can be noted that with the variation of the rate of packet drop, the value of 2  is not varying a large amount because the proposed algorithm is designed and validated under the consideration of single packet drop. Next, Figure 3-5 shows the effectiveness of the designed controller to achieve control objectives (7) and that has been demonstrated in terms of time responses considering 10 followers in a platoon for two different network topologies i.e. BPF and BPLF under 20% packet drop [7].…”

“…Next, Figure 3-5 shows the effectiveness of the designed controller to achieve control objectives (7) and that has been demonstrated in terms of time responses considering 10 followers in a platoon for two different network topologies i.e. BPF and BPLF under 20% packet drop [7]. By solving the LMI (13), the controller gains K = [-0.5528, -6.5034, -2.5130] and K = [-3.0506, -3.9947, -1.5223] are obtained for BPF and BPLF topology, respectively.…”

“…However, the reliability of wireless communication network depends largely on bandwidth allocation, external disturbances, signal strength etc., which ultimately leads to packet drop and/or delay in data transmission. This packet drops and/or delay largely affects the stability and performance of the vehicle platoon system [7] due to presence of wireless communication network in it. Therefore, it is quite challenging to ensure the stability and maintain the desired performances (maintaining the same velocity and inter-vehicular distance) by designing the appropriate controller for the vehicle platoon system under different network topologies with packet drop.…”

“…Although packet drop, communication delays, parametric uncertainty and external disturbances all have been investigated by researchers separately [7,10] or in some combinations [13] for the vehicle platoon control problem but combination of all these issues remains a challenging research problem [9,10]. For example, for short range wireless communication environment among the vehicles in a platoon, a decentralized model predictive controller has been designed under low and high communication latency for longitudinal platoon control problem in [14].…”

“…For example, for short range wireless communication environment among the vehicles in a platoon, a decentralized model predictive controller has been designed under low and high communication latency for longitudinal platoon control problem in [14]. Tang et al [7] have utilized the concept of network topology for communication systems [5] between vehicles in a platoon and have designed the LMI based distributed controller to achieve the co-ordinated motion of This paper proposes a robust distributed control design methodology for homogeneous vehicle platoon under random packet drop. As in [10], the longitudinal dynamics of homogeneous platoon with disturbances has been considered in this work.…”