Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

Ghasemi, Ali; Rouhi, S.

doi:10.7307/ptt.v27i1.1500

Cited by 12 publications

(6 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore, the development of wireless communication, i.e., Cellular Network-Vehicle to Everything (C-V2X) and Dedicated Short Range Communications (DSRC), makes it possible for the ITS system to obtain more information about its surroundings and achieve real-time traffic control in several scenarios and applications, e.g., variable speed advisor [1], ramp metering [2], unsignalized intersection control [3], etc. Platoon control is one of the most promising methods of the intelligent transportation system, which assembles cooperative driving vehicles with a small intervehicular distance to increase traffic efficiency [4,5]. e longitudinal control of the platoon system, named cooperative adaptive cruise control (CACC), is used to guarantee comfort and safety and has, thus, attracted a large number of researchers over the past few decades [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Smith Predictor Compensation-Based Platoon Control with Estimation Deviation

Wang

Sun

et al. 2022

Journal of Advanced Transportation

View full text Add to dashboard Cite

In the research of cooperative adaptive cruise control, the coupling relationship between the communication delay, the following time headway, and the string stability leads to a stringent limit on the minimum allowable following time headway. To deal with this limitation, this paper proposes the Disturbance Observer-Smith Predictor Compensation (DOB-SPC)-based Master-Slave architecture. The SPC is adopted to move the communication delays and actuator delays outside the feedback loop in the Master-Slave architecture. It theoretically realizes decoupling when parameters are estimated accurately and achieves zero-headway-string-stability for arbitrary values of communication delay. Subsequently, the robust performance of SPC with estimation deviation of vehicle model dynamic lag, actuator delay, and communication delay in practical application is discussed through the changing trend of the minimum string-stable time headway. To alleviate this problem, the DOB is designed to compensate for the interference caused by the perturbation of vehicle dynamic parameters and improve the estimation accuracy. The simulation results of a four-vehicular platoon show that the string stability and following accuracy are fully guaranteed by applying the proposed strategy, even with smaller headway in the presence of estimation deviation.

show abstract

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Smith Predictor Compensation-Based Platoon Control with Estimation Deviation

Wang

Sun

et al. 2022

Journal of Advanced Transportation

View full text Add to dashboard Cite

show abstract

“…Some of the earlier investigations of this method mostly focus on consensus control of multi agent systems under single or multiple time delays (Cepeda-Gomez, 2016;Cepeda-Gomez and Olgac, 2011;Gao et al, 2014). Furthermore, a few applications of this method on vehicular platooning system are also found in the literature (Chehardoli and Homaienezhad, 2017;Ghasemi and Rouhi, 2015).…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of connected vehicles with V2V communication and time delays: CTCR method via Bézout’s resultant

Akkaya

Akbati

Ergenç

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

This paper is focused on the distributed control of connected vehicles via vehicle-to-vehicle (V2V) communication. A mixed predecessor following topology with a virtual leader under constant time headway policy is analysed in case of communication and input delays. The longitudinal dynamics of each vehicle in the platoon is represented by a third-order linear model. Unavoidable communication and input delays are introduced into the platoon structure which converts the characteristic equation of the system into a transcendental type. The stability regions of the system in delay space are obtained by utilizing the cluster treatment of characteristic root (CTCR) method in the case of single and multiple time delays. A new Bézout resultant matrix-based approach is proposed to determine the kernel and offspring hypersurfaces of the CTCR method. The determination of these kernel and offspring hypersurfaces becomes computational costly as the number of vehicles increases in the platoon due to the increasing degree of characteristic equation. However, the proposed method reduces the dimensions of the coefficient matrix which is created by using the characteristic equation. It is concluded that the proposed method confirms the internal stability of the connected vehicles with both generic information flow topologies and formation between vehicles under single and multiple time delays. Thereafter, a local string stability definition is proposed in terms of spacing errors. Sufficient conditions to obtain string stability under mixed predecessor following topology for the existence and nonexistence of time delay are given. Finally, several simulation studies with different scenarios are conducted to display the effectiveness of the proposed model and method for internal and string stabilities.

show abstract

“…These profits are provided by ensuring that all the cars automatically adjust their own speeds as to steady a desired inter-vehicle distance [ 3 , 4 , 5 ]. Due to this, a lot of research works on platoon control, which introduced many well-known topics in terms of stability, platoon performances, have been elaborated in [ 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning

Latrech

Chaibet

Boukhnifer

et al. 2018

Sensors

View full text Add to dashboard Cite

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.

show abstract

Stability Analysis of a Predecessor-Following Platoon of Vehicles With Two Time Delays

Abstract: ABSTRACT

Cited by 12 publications

References 38 publications

Disturbance Observer-Smith Predictor Compensation-Based Platoon Control with Estimation Deviation

Disturbance Observer-Smith Predictor Compensation-Based Platoon Control with Estimation Deviation

Stability analysis of connected vehicles with V2V communication and time delays: CTCR method via Bézout’s resultant

Integrated Longitudinal and Lateral Networked Control System Design for Vehicle Platooning

Contact Info

Product

Resources

About