Optimal Control of Connected Vehicle Systems With Communication Delay and Driver Reaction Time

Ge, Jin I.; Orosz, Gábor

doi:10.1109/tits.2016.2633164

Cited by 167 publications

(74 citation statements)

References 35 publications

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“…Note that the optimization problem (31) is a convex linear matrix inequality (LMI) in variables (ω 2 d , 1 k d , Q) and can be solved using efficient LMI solvers. Also notice that the tracking error bound (30) implies that if the local reference signals are static, i.e., R ∆r ∞ = γ = 0, for any admissible delay, algorithm (9) converges to the exact average of the reference inputs. Because in connected undirected graphs all the non-zero eigenvalues of Laplacian matrix are real and satisfy 0 < δβλ i < 1, i ∈ {2, · · · , N }, algorithm (9) is guaranteed to tolerate, at least, one step delay as π 2 arcsin( δ β λ i 2 ) > 3.…”

Section: B Discrete-time Casementioning

confidence: 99%

“…Some of these references address important practical considerations such as the dynamic average consensus over changing topologies and over networks with event-triggered communication strategy, however, the dynamic average consensus in the presence of communication time delay has not been addressed. This paper intends to fill this gap as delays are inevitable in the real systems and are known to cause disruptive behavior such as network instability or the network desynchronization [28], [29], [30].…”

Section: Introductionmentioning

confidence: 99%

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On Robustness Analysis of a Dynamic Average Consensus Algorithm to Communication Delay

Moradian

Kia

2019

IEEE Trans. Control Netw. Syst.

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This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delayfree communication, the algorithm of interest achieves a practical asymptotic tracking of the dynamic average of the timevarying agents' reference signals. For this algorithm, in both its continuous-time and discrete-time implementations, we characterize the admissible communication delay range and study the effect of the delay on the rate of convergence and the tracking error bound. Our study also includes establishing a relationship between the admissible delay bound and the maximum degree of the SCWB digraphs. We also show that for delays in the admissible bound, for static signals the algorithms achieve perfect tracking. Moreover, when the interaction topology is a connected undirected graph, we show that the discrete-time implementation is guaranteed to tolerate at least one step delay. Simulations demonstrate our results.

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Section: B Discrete-time Casementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On Robustness Analysis of a Dynamic Average Consensus Algorithm to Communication Delay

Moradian

Kia

2019

IEEE Trans. Control Netw. Syst.

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“…Examples range from the control of single-atom trajectories 1 to the development of brain-device interfaces, 2 from the treatment of human diseases using closed-loop drug delivery systems, 3 to the design of driverless automobiles. 4 An important component of these controllers is an analog-to-digital (A/D) conversion by which a continuous (or analog) signal is converted into a series of numbers proportional to the signal. This A/D conversion is essential to enable the digital microprocessors to track the controlled variable: the reverse D/A conversion makes it possible for the microprocessor to affect control.…”

mentioning

confidence: 99%

Quantization improves stabilization of dynamical systems with delayed feedback

Stépàn

Milton

Insperger

2017

Chaos: An Interdisciplinary Journal of Nonlinear Science

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We show that an unstable scalar dynamical system with time-delayed feedback can be stabilized by quantizing the feedback. The discrete time model corresponds to a previously unrecognized case of the microchaotic map in which the fixed point is both locally and globally repelling. In the continuous-time model, stabilization by quantization is possible when the fixed point in the absence of feedback is an unstable node, and in the presence of feedback, it is an unstable focus (spiral). The results are illustrated with numerical simulation of the unstable Hayes equation. The solutions of the quantized Hayes equation take the form of oscillations in which the amplitude is a function of the size of the quantization step. If the quantization step is sufficiently small, the amplitude of the oscillations can be small enough to practically approximate the dynamics around a stable fixed point.

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“…Platooning control has been a longstanding problem in control engineering, encompassing a vast literature. For a series of recent, interesting results also providing a good outline of existing literature we refer to [49], [50]. To the best of the authors's knowledge, the current results are the only ones guaranteeing collision avoidance and topology preservation for heterogenous, nonlinear dynamical agents in the presence of communication induced time-delays, as outlinen in Section V below.…”

Section: Platooning Controlmentioning

confidence: 93%

Decoupled-dynamics distributed control for strings of nonlinear autonomous agents

Sabău

Morărescu

Busoniuz

et al. 2017

2017 American Control Conference (ACC)

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We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's topology. Each autonomous agent uses information and relative measurements only with respect to its predecessor in the string. The performance of the scheme is independent of the number of agents in the network and also on the agent's relative position in the network. The scalability is a consequence of the "decoupling" of a certain bounded approximation of the closed-loop equations, which allows the regulation and controller design (at each agent) to be done individually, in a completely decentralized manner. A practical method for compensating communication induced delays is also presented. Numerical examples illustrate the effectiveness and the main features of the proposed approach.

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Optimal Control of Connected Vehicle Systems With Communication Delay and Driver Reaction Time

Cited by 167 publications

References 35 publications

On Robustness Analysis of a Dynamic Average Consensus Algorithm to Communication Delay

On Robustness Analysis of a Dynamic Average Consensus Algorithm to Communication Delay

Quantization improves stabilization of dynamical systems with delayed feedback

Decoupled-dynamics distributed control for strings of nonlinear autonomous agents

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