Distributed Adaptive Sliding Mode Control of Vehicular Platoon With Uncertain Interaction Topology

Gao, Feng; Hu, Xiaosong; Li, Shengbo Eben; Li, Keqiang; Sun, Qi

doi:10.1109/tie.2017.2787574

Cited by 148 publications

(68 citation statements)

References 33 publications

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“…We can formulate it as a problem of parameterised system, and compute the pseudospectral abscissa for some structured real-valued perturbations. Since the differences between the vehicles in (12) lie in some parameters within the state coefficient matrices (see (14)), a sufficient condition for stability is given by the robust stability of the corresponding uncertain system. Let us define the pseudospectrum of the perturbed system,…”

Section: B Platoon Stability: Pseudospectral Abscissamentioning

confidence: 99%

“…Since the matrices in (14) are affine in the uncertain parameters, the pseudospectral abscissa can be computed using the structure exploiting algorithm for real-valued perturbations in [20]. The objective would be to minimise the pseudospectral abscissa min p α,…”

Section: B Platoon Stability: Pseudospectral Abscissamentioning

confidence: 99%

“…Additionally, it might be possible to add an upper layer of control to one vehicle lookahead CACC, so as to include the possibility of information transfer from the last vehicle to the first vehicle (see [12], [13]). We refer to [14], [15], [16], [17] and references within for details on recent publications related to the subject.…”

Section: Introductionmentioning

confidence: 99%

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Achieving an $\mathcal{L}_{2}$ string stable one vehicle look-ahead platoon with heterogeneity in time-delays

Dileep

Michiels

Fusco³

et al. 2019

2019 18th European Control Conference (ECC)

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A methodology is proposed to design stabilising and robust fixed-order decentralised controllers for heterogeneous vehicular platoons with Cooperative Adaptive Cruise Control (CACC). We consider Linear Time Invariant (LTI) models with constant time-delays at state, input and output. The closed-loop systems of (identical) local controllers and heterogeneous parameter vehicles are modelled by a system of delay differential algebraic equations. The proposed frequency domain approach uses the non-conservative direct optimisation approach towards stabilisation and robustness optimisation of delay systems. In this paper, the design problem of stabilising (identical) controllers achieving L2 string stability for one vehicle look-ahead platoon is reduced to a simultaneous controller design problem for a parameterised (sub)system, where the allowable values of the parameters correspond to heterogeneity (including time-delays) of the vehicles. By treating the heterogeneity in parameters as perturbations contained in specific intervals or regions, we determine the values for pseudo-spectral abscissa and robust induced-L2 norm. Hence, we ensure that the achieved exponential stability and string stability properties along with the overall computational complexity (of designing the controller) are independent of the number of vehicles. The application of CACC is simulated in MATLAB software.

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Section: B Platoon Stability: Pseudospectral Abscissamentioning

confidence: 99%

Section: B Platoon Stability: Pseudospectral Abscissamentioning

confidence: 99%

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Achieving an $\mathcal{L}_{2}$ string stable one vehicle look-ahead platoon with heterogeneity in time-delays

Dileep

Michiels

Fusco³

et al. 2019

2019 18th European Control Conference (ECC)

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show abstract

“…Gao et al designed a local string stable ∞ controller for a heterogeneous platoon, simultaneously considering vehicle uncertainties and identical communication delays [26]. Moreover an adaptive distributed sliding mode control strategy was proposed in [27] to simutaneously deal with the nonlinearieties and uncertainties of node dynamics for platoon interacted by uncertain but time-invariat topologies. Wen et al considered a more complicated condition that the topology switches and the control input misses ocassionally [28].…”

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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“…Depending on the IFT degeneration scenario that unfolds at different time instants, the CACC will change the controller parameters to maintain string stability performance rather than degrade to ACC. Gao et al (2018) design a distributed sliding mode controller based on a linear matrix inequality method to ensure string stability under uncertain but eigenvalue-bounded IFT degeneration scenarios. However, both these studies consider IFT dynamics passively, implying that the controller uses only the functioning links when others have V2V communication failures.…”

mentioning

confidence: 99%

Cooperative adaptive cruise control for connected autonomous vehicles by factoring communication-related constraints

Wang

Gong

Zhou

et al. 2020

Transportation Research Part C: Emerging Technologies

101

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Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the platoon, implying guaranteed vehicle-to-vehicle (V2V) communications for the IFT assumed. In reality, V2V communications are unreliable due to failures resulting from communication-related constraints such as interference and information congestion. Since CACC strategies entail continuous information broadcasting, communication failures can occur in congested CAV traffic networks, leading to a platoon's IFT varying dynamically. To explicitly factor IFT dynamics and to leverage it to enhance the performance of CACC strategies, this study proposes the idea of dynamically optimizing the IFT for CACC, labeled the CACC-OIFT strategy. Under CACC-OIFT, the vehicles in the platoon cooperatively determine in real-time which vehicles will dynamically deactivate or activate the "send" functionality of their V2V communication devices to generate IFTs that optimize the platoon performance in terms of string stability under the ambient traffic conditions. The CACC-OIFT consists of an IFT optimization model and an adaptive Proportional-Derivative (PD) controller. Given the adaptive PD controller with a two-predecessor-following scheme, and the ambient traffic conditions and the platoon size just before the start of a time period, the IFT optimization model determines the optimal IFT (in terms of the activated and deactivated status of the "send" functionalities of the vehicles in the platoon) that maximizes the expected string stability. This expectation is because each IFT has specific degeneration scenarios whose probabilities are determined by the communication failure probabilities for that time period based on the ambient traffic conditions. The optimal IFT is deployed for that time period, and the adaptive PD controller continuously determines the car-following behaviors of the vehicles based on the unfolding degeneration scenario for each time instant within that period. The effectiveness of the proposed CACC-OIFT is validated through numerical experiments in NS-3 based on NGSIM field data. The results indicate that the proposed CACC-OIFT can significantly enhance the string stability of platoon control in an unreliable V2V communication context, outperforming CACCs with fixed IFTs or with passive adaptive schemes for IFT dynamics.

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Distributed Adaptive Sliding Mode Control of Vehicular Platoon With Uncertain Interaction Topology

Cited by 148 publications

References 33 publications

Achieving an $\mathcal{L}_{2}$ string stable one vehicle look-ahead platoon with heterogeneity in time-delays

Achieving an $\mathcal{L}_{2}$ string stable one vehicle look-ahead platoon with heterogeneity in time-delays

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

Cooperative adaptive cruise control for connected autonomous vehicles by factoring communication-related constraints

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