<i>H<sub>∞</sub>
                  </i> Consensus of Homogeneous Vehicular Platooning Systems With Packet Dropout and Communication Delay

Elahi, Arezou; Alfi, Alireza; Modares, Hamidreza

doi:10.1109/tsmc.2021.3071994

Cited by 38 publications

(13 citation statements)

References 55 publications

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“…Although in a deterministic setting string stability has been extensively studied, results are scarce for stochastic scenarios [40,11,4,9]. Nevertheless, some works suggest that a platoon with stochastic signals involved is string stable if the mean and the variance of the error exhibit a string stable behavior [37,3,42]. For instance, the first row in Fig.…”

Section: String Stability Discussionmentioning

confidence: 99%

“…For instance, the dynamical model of the vehicles can be assumed to be linear or non-linear, or defined in continuous or discrete-time [16,39,14]. If all the vehicles have the same dynamic model, the platoon is called homogeneous [23,3,16]; otherwise, it is called heterogeneous [17]. The desired inter-vehicle distance can be constant, or variable.…”

Section: Introductionmentioning

confidence: 99%

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Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Gordon¹,

Vargas²,

Peters³

2022

Preprint

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This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and constant time-headway spacing policy. Lossy channels are modeled by Bernoulli processes allowed to be correlated in space. We make use of a class of compensation strategies to reduce the effect of data loss. Necessary and sufficient conditions are derived to guarantee the convergence of the mean and variance of the tracking errors, which depend not only on the controller design but also on the compensation strategy and the probabilities of successful transmission. Through numerical simulations, we illustrate the theoretical results, describing different platoon behaviors. We also provide insights on the mean-square stability as a necessary condition for string stability in this stochastic setting.

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Section: String Stability Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Gordon¹,

Vargas²,

Peters³

2022

Preprint

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“…Various controller design approaches such as model predictive control (MPC) [20], [21], sliding mode control (SMC) [13], [22], adaptive control [10], H ∞ control [7], [7], [9] etc. have been established to ensure closed-loop stability and cooperative motion either for homogeneous [9], [10], [23]- [25] or heterogeneous [20], [26], [27] vehicle platoon systems with and without complexities like external disturbances (due to wind gust, road slope etc.) [7], [13], [28], parametric uncertainties (due to, engine time constant, change in mass under different load etc.)…”

Section: B Related Work On Controller Design Under Packet Drop And/or...mentioning

confidence: 99%

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Halder

Gillam

Dixit

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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This paper proposes a discrete time distributed state feedback controller design strategy for a homogenous vehicle platoon system with undirected network topology which is resilient to both external disturbances and random consecutive network packet drop. The system incorporates a distributed state feedback controller design by satisfying bounded H ∞ norm using Lyapunov-Krasovskii based linear matrix inequality (LMI) approach that ensures internal stability and performance. The effect of packet drops on internal stability in terms of stability margin are studied for a homogenous vehicle platoon system with undirected network topology and external disturbance. The variation of stability margin, representing absolute value of least stable close-loop pole, is also studied for two common undirected network topologies for vehicle platooning, i.e., bidirectional predecessor following (BPF) and bidirectional predecessor leader following (BPLF) topologies by varying platoon members, packet drop rates with number of contiguous packets dropped. Results demonstrate that the control strategy best satisfies the requirement of maintaining a desired inter-vehicular distance with constant spacing policy and leader trajectory using two network topologies: BPF and BPLF. We show how these topologies are robust in terms of ensuring internal stability and performance to maintain cooperative motion of vehicle platoon system with different number of followers, random multiple consecutive packet drops and external disturbance.

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“…The authors concerned the consensus and stability problem of multi-agent control systems via networks with communication delays and data loss, and a networked multi-agent predictive control scheme was proposed to achieve output consensus and compensate for the communication delays and data loss actively 17 . Elahi 18 considered the third-order dynamics with the rate of change of acceleration under the communication delay and random packet dropout. Using the Lyapunov–Krasovskii function, the sufficient conditions were provided.…”

Section: Introductionmentioning

confidence: 99%

Formation control for discrete-time multi-agent system with input and output delays under network attacks

Yuan

Liu

Zhang

2022

Sci Rep

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This paper addresses the mean square consensus-based formation control for multiple agent system (MAS) with input and output delays under network attacks, process noise, and measurement noise in MAS. Firstly, a time delay-free transformation approach for a multi-agent system with input and output delays is presented. The MAS is transformed into a formal delay-free discrete-time system using the delay-free transformation method. Then a state observer based on Kalman filter is presented to estimate the states of agents. A distributed predictive consensus protocol based on the estimated states of each MAS is proposed for the leader-following MAS. The sufficient and necessary conditions of mean square consensus for MAS under DoS attacks are derived. Finally, a numerical example of consensus-based formation control for multi-agent systems is provided to verify the correctness and effectiveness of the proposed consensus control protocol.

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H_∞ Consensus of Homogeneous Vehicular Platooning Systems With Packet Dropout and Communication Delay

Cited by 38 publications

References 55 publications

Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Formation control for discrete-time multi-agent system with input and output delays under network attacks

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H∞ Consensus of Homogeneous Vehicular Platooning Systems With Packet Dropout and Communication Delay

Cited by 38 publications

References 55 publications

Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Mean square stability conditions for platoons with lossy inter-vehicle communication channels

Stability Analysis With LMI Based Distributed H ∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops

Formation control for discrete-time multi-agent system with input and output delays under network attacks

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H_∞ Consensus of Homogeneous Vehicular Platooning Systems With Packet Dropout and Communication Delay

Stability Analysis With LMI Based Distributed H _∞ Controller for Vehicle Platooning Under Random Multiple Packet Drops