Passivity-based control for multi-vehicle systems subject to string constraints

Knorn, Steffi; Donaire, Alejandro; Agüero, Juan C.; Middleton, Richard H.

doi:10.1016/j.automatica.2014.10.038

Cited by 95 publications

(76 citation statements)

References 21 publications

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“…with v des being the desired platoon velocity, then the constant platooning velocity solution, investigated in Section III, is not an equilibrium when there is a vehicle f satisfying (30). This is similar as what would occur under such conditions for unidirectional CACC [4], [5].…”

Section: A Velocity Constraintmentioning

confidence: 64%

“…For example, the method for finding a minimal time headway h that guarantees string stability as described in [28] does not apply for bidirectionally connected systems. Alternatively, one could analyze string stability using a passivity-based framework such as presented in [30]. However, that result should be then extended to velocity-dependent spacing policy.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Consensus Control for Vehicular Platooning With Velocity Constraints

Zegers¹,

Semsar-Kazerooni²,

Ploeg³

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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Abstract-In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider bidirectional vehicle interaction, which improves the cohesion between vehicles in the platoon. Exponential stability of the platoon dynamics is evaluated, also in the challenging scenario in which a limitation on the velocity of one of the vehicles in the platoon is introduced. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

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Section: A Velocity Constraintmentioning

confidence: 64%

Section: Simulation Resultsmentioning

confidence: 99%

Consensus Control for Vehicular Platooning With Velocity Constraints

Zegers¹,

Semsar-Kazerooni²,

Ploeg³

et al. 2018

IEEE Trans. Contr. Syst. Technol.

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show abstract

“…• Designing a passive LTI controller, with symmetric coupling to predecessor and follower, to keep in check at least in some sense the effect of disturbances acting on the leading subsystem [3]. • Adding a dependence on absolute velocity into the pure double integrator, to overcome the string instability issue [8]- [10]. This can take the form of strong enough drag, which e.g.…”

Section: Introductionmentioning

confidence: 99%

Toward a Comprehensive Impossibility Result for String Stability

Farnam

Sarlette

2020

IEEE Trans. Automat. Contr.

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We provide a comprehensive impossibility result towards achieving string stability, i.e. keeping local relative errors in check with local controllers independently of the size of a chain of subsystems. We significantly extend existing results, from the LTI setting to any homogeneous controllers that can be nonlinear, time-varying, and locally communicating. We prove this impossibility for a set of definitions with various norm choices, including the L2-type which is more standard in the literature and a BIBO type criterion. All results hold for a general discrete-time controller which should cover most applications.

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“…It also remains to be seen exactly how (accurately) the absolute velocity is obtained in practice. While this absolute velocity solution has gathered serious attention as solving L 2 string stability [10,11,12,13,14,15], it appears that no result so far has established its power for the stronger yet practically important (L 2 , ℓ p ) versions. Those have only been investigated with even more information, e.g.…”

Section: Introductionmentioning

confidence: 99%

About Strong String Stability of a Vehicle Chain with Time-Headway Control

Farnam

Sarlette

2018

2018 IEEE Conference on Decision and Control (CDC)

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This paper deals with the problem of string stability in a chain of accelerationcontrolled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding that a local disturbance gets amplified along the chain, or more strongly ensuring that the output vector's p−norm remains bounded for any bounded vector of input disturbances independently of the string length. They are all impossible to achieve with any linear controller if the vehicles only use relative information of few vehicles in front. Previous work has shown that adding absolute velocity into the controller, allows to at least avoid amplification of a local disturbance. In this paper, we consider the stronger definitions of string stability, under this same relaxation of using absolute velocity in the controller. We prove that the influence from input vector to output vector cannot be bounded independently of chain length in the most popular 2−norm sense, with any bounded stabilizing linear controller; while a proportional derivative (PD) controller can guarantee it in the practically relevant ∞−norm sense. Moreover, we identify the disturbance acting on the leader as the main issue for string stability. * Arash Farnam is with the ID Lab, Department of Electronics and Information Systems (ELIS), Faculty of Engineering and Architecture, Ghent University; Technologiepark Zwijnaarde 914, 9052 Zwijnaarde(Ghent), Belgium arash.farnam@ugent.be., Alain Sarlette. is with ELIS, Ghent University, Belgium; and with the QUANTIC lab, INRIA Paris; 2 rue Simone Iff, 75012 Paris, France. alain.sarlette@inria.fr †

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Passivity-based control for multi-vehicle systems subject to string constraints

Cited by 95 publications

References 21 publications

Consensus Control for Vehicular Platooning With Velocity Constraints

Consensus Control for Vehicular Platooning With Velocity Constraints

Toward a Comprehensive Impossibility Result for String Stability

About Strong String Stability of a Vehicle Chain with Time-Headway Control

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