Multi-layer multi-rate model predictive control for vehicle platooning under IEEE 802.11p

Ibrahim, Amr; Goswami, Dip; Li, Hong; Soroa, Iñaki Martín; Basten, Twan

doi:10.1016/j.trc.2020.102905

Cited by 22 publications

(20 citation statements)

References 60 publications

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“…Although there are many factors affecting the dynamics of a vehicle such as aerodynamics drag and tire friction [34], we assume these forces have already been compensated by the lower layer control technique [35,36], together with heterogeneity among vehicles. This paper adopts the vehicle model proposed in [22,27] and widely used in many other works [3,13,37].…”

Section: Problem Formulationmentioning

confidence: 99%

“…The limit stability boundary (36) defines the stability boundary for a platoon system having SAS and with the platoon size n = +∞. We remark that the limit stability boundary (36) can also be derived from (26) by replacing the two inequality signs with equality signs. Note that K p± (C k , K v ) in (31) for k = 1 is a more straightforward embodiment of Theorem 1.…”

Section: Mode-based Properties Under Scalable Ring-stabilitymentioning

confidence: 99%

“…Case2. The case sgn( v a ) = −1 is shown in Figure 3(b), where the limit stability boundary in the first quadrant is solely determined by K ∞ p+ (K v ) in (36). The point W 2 ∶ (K…”

Section: Supporting Informationmentioning

confidence: 99%

“…Note that K p± (C k , K v ) in (31) for k = 1 is a more straightforward embodiment of Theorem 1. For specified n, K p± (k = 1, K v ) in (31) and K ∞ p± (K v ) in (36) can be used to illustrate the conservativeness of SAS in terms of choosing stabilising gains K v and K p , compared with ASRI.…”

Section: Corollary 3 For Given N-vehicle Platoon System (mentioning

confidence: 99%

“…Since the product 𝜖 a K a always appear together as a single entity in condition ( 26) and the limit stability boundary (36), 𝜖 a K a as an entity is used to characterise its effects on stabilising gains K p and K v to ensure SAS.…”

Section: Effects Of 𝝐 a K A On Sasmentioning

confidence: 99%

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Study on stability and scalability of vehicular platoon with a bidirectional ring interconnection

Zhang

Wang

2021

IET Intelligent Trans Sys

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This paper studies the stability and scalability of the platoon where multiple vehicles move in a closed roadway and are coupled in a bidirectional ring. Each vehicle regulates its longitudinal motion based on bidirectional asymmetric control with triple asymmetry factors. By exploiting Hermite stability criterion, we derive necessary and sufficient conditions of stability for the n-vehicle platoon. Based on parametric robustness analysis, necessary and sufficient conditions of scalably asymptotic stability are further obtained, meaning that the stability is independent of the number of vehicles in the platoon. It is proved that symmetric spacing feedback is necessary for scalably asymptotic stability and the first spatial mode is the least stable among all the non-zero modes. Numerical computations show that the stability region in the space of feedback gains is favourable when the asymmetry level on speed gain is small and the asymmetry level on acceleration gain is large, whereas it may deteriorate rapidly when these two asymmetry factors have different signs.

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Section: Problem Formulationmentioning

confidence: 99%

Section: Mode-based Properties Under Scalable Ring-stabilitymentioning

confidence: 99%

“…Case2. The case sgn( v a ) = −1 is shown in Figure 3(b), where the limit stability boundary in the first quadrant is solely determined by K ∞ p+ (K v ) in (36). The point W 2 ∶ (K…”

Section: Supporting Informationmentioning

confidence: 99%

Section: Corollary 3 For Given N-vehicle Platoon System (mentioning

confidence: 99%

Section: Effects Of 𝝐 a K A On Sasmentioning

confidence: 99%

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