Sampled-data vehicular platoon control with communication delay

Gong, Jian; Zhao, Yuan; Lu, Zibao

doi:10.1177/0959651817733590

Cited by 22 publications

(26 citation statements)

References 39 publications

(92 reference statements)

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“…Denote the position, velocity and acceleration of the i th vehicle ( i = 0 , 1 , 2 , … , N ) by s i , v i and a i , respectively, where i = 0 stands for the leading vehicle with other vehicles being the followers. The dynamics of the i th following vehicle ( i = 1 , … , N ) modelled by the nonlinear differential equations is as follows 14…”

Section: Problem Descriptionmentioning

confidence: 99%

“…The following exact feedback linearization control law is introduced to convert the nonlinear model into a linear model 14…”

Section: Problem Descriptionmentioning

confidence: 99%

“…12 Song et al 13 proposed a decentralized control method for autonomous vehicles having time delay. Gong et al 14 proposed a sampled-data control strategy for platoon with communication delay for predecessor-leader following (PLF) topology. In all of the above-mentioned methodologies, the control action is executed in a time-triggered manner in which control action is taken either continuously or at equal intervals of time.…”

Section: Introductionmentioning

confidence: 99%

“…The event-triggering strategy presented in this paper is a function of the actual value of sensor fault rather than the expected value of fault as has been considered in Wei et al 24 By employing the proposed triggering condition, a criteria for co-designing of controller gains and event-triggering parameter ensuring internal stability of the platoon is developed. Unlike the centralized controller gain design method presented by Gong et al 14 and Wei et al, 24 a distributed approach is used to design the controller gains. Furthermore, the criteria for string stability of the platoon system are proposed.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

Bansal

Mukhija

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper addresses the problem of control of a vehicular platoon system with limited on-board resources in the presence of time-varying delay and sensor faults. A platoon system with predecessor-leader following topology in which each vehicle suffers from probabilistic sensor faults and time-varying delay is considered. To reduce the utilization of communication and energy resources in the system, a novel event-triggering communication strategy at the sensor-controller channel is proposed. Based on the proposed triggering strategy, a criteria for co-designing of the triggering parameter and the control law ensuring internal stability of the platoon system is developed. Furthermore, additional conditions are established for the obtained controller to guarantee string stability of the platoon system. The efficacy of the proposed methodology is demonstrated through numerical simulations.

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Section: Problem Descriptionmentioning

confidence: 99%

“…The following exact feedback linearization control law is introduced to convert the nonlinear model into a linear model 14…”

Section: Problem Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

Bansal

Mukhija

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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show abstract

“…These constraints acquire a great importance because they can cause platoon instability. To raise defiance, many results have been developed in consideration of network-induced delay [ 19 , 20 , 21 ], with emphasis on stability analysis and controller design with constant or variable delays. In [ 13 ], vehicles in platoon share data, via VANETs, affected by actuator delay.…”

Section: Introductionmentioning

confidence: 99%

Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning

Latrech

Chaibet

Boukhnifer

et al. 2018

Sensors

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This paper investigates platoon control of vehicles via the wireless communication network. An integrated longitudinal and lateral control approaches for vehicle platooning within a designated lane is proposed. Firstly, the longitudinal control aims to regulate the speed of the follower vehicle on the leading vehicle while maintaining the inter-distance to the desired value which may be chosen proportional to the vehicle speed. Thus, based on Lyapunov candidate function, sufficient stability conditions formulated in BMIs terms are proposed. For the general objective of string stability and robust platoon control to be achieved simultaneously, the obtained controller is complemented by additional conditions established for guaranteeing string stability. Furthermore, constraints such as actuator saturation, and controller constrained information are also considered in control design. Secondly, a multi-model fuzzy controller is developed to handle the vehicle lateral control. Its objective is to maintain the vehicle within the road through steering. The design conditions are strictly expressed in terms of LMIs which can be efficiently solved with available numerical solvers. The effectiveness of the proposed control method is validated under the CarSim software package.

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Exponential mean‐square string stability of vehicular platoon with stochastic disturbance and time delay

Sui,

Zhang,

Dai

2024

Intl J Robust & Nonlinear

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Platooning is an effective way to reduce air resistance and fuel consumption in vehicular transportation. However, stochastically generated disturbances can significantly impact the string stability of platoons. This article proposes a novel control law, based on sliding mode control and leader‐predecessor communications, designed to improve the exponential mean‐square string stability of platoons with Ito‐type stochastic disturbances that consider friction force. Specifically, our approach employs a third‐order nonlinear dynamic model to capture the relevant spatiotemporal correlations present in vehicle platoons. The proposed longitudinal control strategy effectively stabilizes the platoons with time delay and was verified through simulation experimentation. In this study, the stability of sliding mode motion is thoroughly investigated by means of sub‐reachable and practical stability analysis with sliding mode control. The findings of this study provide a theoretical foundation for further research on vehicle platoons with increasingly complicated interference and time delays. Overall, our results demonstrate that our approach can achieve significant improvements in both fuel economy and exhaust emissions while maintaining high levels of string stability, further contributing to the development of efficient and sustainable transportation systems.

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Sampled-data vehicular platoon control with communication delay

Cited by 22 publications

References 39 publications

Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning

Exponential mean‐square string stability of vehicular platoon with stochastic disturbance and time delay

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