Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics

Wang, Le Yi; Syed, Ali; Yin, Gang; Pandya, Abhilash; Zhang, Hongwei

doi:10.1007/s11424-014-2115-z

Cited by 82 publications

(32 citation statements)

References 14 publications

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“…In [16], negative power time convergence rate was studied for the multi-agent system with state-independent time-varying topology. Additionally, there exist a large number of related works in the consensus analysis of multi-agent systems using some assumptions, such as random framework for the initial states [14,15,17,18] and prior connectivity for the dynamic topologies [19][20][21][22][23] . While our convergence rate problem is different from all these ones.…”

Section: Introductionmentioning

confidence: 99%

Convergence rate of the asymmetric Deffuant-Weisbuch dynamics

Zhang

Chen

2015

J Syst Sci Complex

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This paper considers the convergence rate of an asymmetric Deffuant-Weisbuch model. The model is composed by finite n interacting agents. In this model, agent i's opinion is updated at each time, by first selecting one randomly from n agents, and then combining the selected agent j's opinion if the distance between j's opinion and i's opinion is not larger than the confidence radius ε0. This yields the endogenously changing inter-agent topologies. Based on the previous result that all agents opinions will converge almost surely for any initial states, the authors prove that the expected potential function of the convergence rate is upper bounded by a negative exponential function of time t when opinions reach consensus finally and is upper bounded by a negative power function of time t when opinions converge to several different limits.

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Section: Introductionmentioning

confidence: 99%

Convergence rate of the asymmetric Deffuant-Weisbuch dynamics

Zhang

Chen

2015

J Syst Sci Complex

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“…A CACC system consists of a string of vehicles which take advantage of V2V communications to follow each other with harmonized speed and headway [6]. Specifically, single-integrator distributed consensus algorithms were developed to achieve weighted and constrained consensus for inter-vehicle distance in the vehicle string [7], [8]. Double-integrator distributed consensus algorithms were further developed based on singleintegrator, where different information flow topologies of vehicles in the system were adopted by different work, such as predecessor following and predecessor-leader following [9]- [12].…”

Section: Introductionmentioning

confidence: 99%

Lookup Table-Based Consensus Algorithm for Real-Time Longitudinal Motion Control of Connected and Automated Vehicles

Wang

Han

Kim

et al. 2019

2019 American Control Conference (ACC)

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Connected and automated vehicle (CAV) technology is one of the promising solutions to addressing the safety, mobility and sustainability issues of our current transportation systems. Specifically, the control algorithm plays an important role in a CAV system, since it executes the commands generated by former steps, such as communication, perception, and planning. In this study, we propose a consensus algorithm to control the longitudinal motion of CAVs in real time. Different from previous studies in this field where control gains of the consensus algorithm are pre-determined and fixed, we develop algorithms to build up a lookup table, searching for the ideal control gains with respect to different initial conditions of CAVs in real time. Numerical simulation shows that, the proposed lookup table-based consensus algorithm outperforms the authors' previous work, as well as van Arem's linear feedback-based longitudinal motion control algorithm in all four different scenarios with various initial conditions of CAVs, in terms of convergence time and maximum jerk of the simulation run.

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“…There are some achievements about the influence of time delay, packet loss, and quantization error in wireless communication on platoon performances. By simplifying the node dynamics to a secondorder integral equation, Wang et al studied the influence of the random changing network structure on platoon dynamics by using a weighted and constrained seeking framework [25]. Gao et al designed a local string stable ∞ controller for a heterogeneous platoon, simultaneously considering vehicle uncertainties and identical communication delays [26].…”

Section: Introductionmentioning

confidence: 99%

Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon

Gao

Dang

et al. 2019

Journal of Advanced Transportation

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To overcome the challenges arising from the weakness of wireless communication, this paper presents a distributed H∞ control method for multi-AVs connected by an uncertain and switching topology in a platoon. After compensating for the powertrain nonlinearities, we model the node dynamics as a linear uncertain system. By applying the eigenvalue decomposition and linear transformation, the platoon system is decomposed to multiple low order subsystems depending on the eigenvalues of the topological matrix. The sufficient condition ensuring the robust performance of the platoon is presented by using the invariant of signal amplitude of the linear transformation. Then a numerical method is provided to solve the state feedback controller by using the LMI scheme. Only the bounds of the topological eigenvalues are necessary for this new synthesis method and the designed controller can govern the platoon composed of disturbed nodes and interacting by uncertain even switching topologies in a satisfactory way. The effectiveness of this distributed H∞ control strategy is validated by comparative bench tests between nominal and disturbed conditions.

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Control of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics

Cited by 82 publications

References 14 publications

Convergence rate of the asymmetric Deffuant-Weisbuch dynamics

Convergence rate of the asymmetric Deffuant-Weisbuch dynamics

Lookup Table-Based Consensus Algorithm for Real-Time Longitudinal Motion Control of Connected and Automated Vehicles

Distributed H∞ Control of AVs Interacting by Uncertain and Switching Topology in a Platoon

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