Robust Distributed Control Protocols for Large Vehicular Platoons With Prescribed Transient and Steady-State Performance

Abstract

In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily obtained by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as intervehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.

Asymptotic Stability of Uncertain Lagrangian Systems with Prescribed Transient Response

“…Let now x(t 0 ) denote the initial condition of the system (12) satisfying ( x(t 0 ), t 0 ) ∈ D c and consider the family of Filippov solutions starting from x(t 0 ) denoted by the set X. Note that, although not explicitly stated, t max and I might be different for each solution in X.…”

“…Funnel control is a high-gain control scheme that usually does not use any information on the system model, and has had numerous applications during the last years. Examples include chemical reactors [9], robotic manipulation [10], [11], vehicle platooning [12], temporal logic planning [13], and multi-agent systems [14]- [16]. Intuitively, funnel control design is based on an adaptive gain, which increases to infinity as the system state approaches the funnel boundary, "pushing" in that way the state to remain in the funnel, by also compensating for the (possibly unknown) dynamics.…”

An overview of prescribed performance control and its application to spacecraft attitude system

“…The rest similar researches can be found in previous works. 29,30 By considering the increasing demands in large-scale practical systems, more efficient distributed PPC protocol deserves further investigations.…”

Robust Time-Delay Feedback Control of Vehicular CACC Systems with Uncertain Dynamics

“…For example, in [28], an adaptive optimal control strategy was proposed for heterogeneous CACC system with uncertain dynamics by resorting adaptive dynamic programming. The authors in [29] presented a robust distributed control protocols for vehicle platoons with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control configurations. Considering parametric uncertainties and uniform communication delay, in [30], the robust H ∞ control method was introduced for vehicle platoons with fully networked bidirectional control structure and the constant distance headway strategy.…”