Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons

Pirani, Mohammad; Hashemi, Ehsan; Simpson-Porco, John W.; Fi̇dan, Barış; Khajepour, Amir

doi:10.1109/tits.2017.2671347

Cited by 34 publications

(22 citation statements)

References 23 publications

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“…The main aim in (C)ACC systems is to keep vehicles as close as possible to increase the vehicle density on highways and to prevent the amplification of disturbances throughout the string therewithal. The latter is known as the string stability of vehicle platoons [19], [20]. When conventional controllers are designed for such systems, decreasing inter-vehicle relative distance can result in string instability.…”

Section: Problem Formulationmentioning

confidence: 99%

Multiobjective $H_{\infty }$ Control for String Stability of Cooperative Adaptive Cruise Control Systems

Kayacan

2017

IEEE Trans. Intell. Veh.

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Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a challenging task while time gap is getting shorter. In order to guarantee the string stability of a vehicle platoon, a multi-objective H ∞ control formulation for adaptive cruise control and cooperative adaptive cruise control structures has been investigated in this paper. The proposed control method solves an optimization problem and achieves a controller that is able to provide not only the system stability, but also the string stability as distinct from the traditional H ∞ control.

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Section: Problem Formulationmentioning

confidence: 99%

Multiobjective $H_{\infty }$ Control for String Stability of Cooperative Adaptive Cruise Control Systems

Kayacan

2017

IEEE Trans. Intell. Veh.

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“…, andl = l −l * are parametric estimation errors, entering as disturbances into the stable dynamics (28).…”

Section: B Second Step: Design Of a Model-matching Control Structurementioning

confidence: 99%

An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Liu

Besselink

Baldi

et al. 2022

IEEE Control Syst. Lett.

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Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the disturbance decoupling approach naturally yields a decentralized controller that guarantees stability and string stability. In this work, we further exploit the disturbance decoupling framework and we show that convergence to a stable, string stable and disturbance decoupled behavior can be achieved even in the presence of parametric uncertainty of the engine time constant. We refer to this framework as adaptive disturbance decoupling.

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“…In general, two policies can be employed for spacing control of platoons, i.e., the constant spacing (CS) policy [25], [30], [31] and the constant time headway (CTH) one [32]- [34]. In the CS policy, the desired spacing between consecutive vehicles is constant, while the desired spacing is a function of velocity in the CTH policy.…”

Section: Control Objectivesmentioning

confidence: 99%

Ecological Cooperative Adaptive Cruise Control for a Heterogeneous Platoon of Heavy-Duty Vehicles With Time Delays

et al. 2020

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To deal with energy crisis and environmental issues, higher fuel economy standards and more stringent limitations on greenhouse gas emissions for ground vehicles have been made. Ecological cooperative adaptive cruise control (Eco-CACC) has been considered as an effective solution to decrease the fuel consumption and greenhouse gas emissions of a platoon of vehicles, and this paper proposes an Eco-CACC strategy for a heterogeneous platoon of heavy-duty vehicles with time delays. The proposed Eco-CACC strategy consists of distributed control protocols for the following vehicles and a new model predictive controller for the leading one. Firstly, after the distributed control protocols are designed based on the neighboring vehicle information, the sufficient conditions that guarantee the internal stability and string stability are derived, and the upper bound of the time delays under controller parameters is also obtained. Secondly, assuming the vehicle platoon as a rigid body with followers staying at desired positions, the new model predictive controller is designed in order to further improve the overall fuel economy of vehicle platoon. Simulations are conducted to validate the sufficient conditions of internal stability and string stability, and to explore the fuel saving performance of the proposed control strategy. The simulation results demonstrate that, compared with the benchmark, the proposed Eco-CACC strategy can significantly improve the fuel economy of heterogeneous platoon.

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Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons

Cited by 34 publications

References 23 publications

Multiobjective $H_{\infty }$ Control for String Stability of Cooperative Adaptive Cruise Control Systems

Multiobjective $H_{\infty }$ Control for String Stability of Cooperative Adaptive Cruise Control Systems

An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Ecological Cooperative Adaptive Cruise Control for a Heterogeneous Platoon of Heavy-Duty Vehicles With Time Delays

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