Stability analysis of connected cruise control with stochastic delays

Qin, Wubing B.; Gomez, Marcella; Orosz, Gábor

doi:10.1109/acc.2014.6859490

Cited by 46 publications

(31 citation statements)

References 9 publications

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“…Moreover, we restrict ourselves to cases where packet losses occur deterministically. We remark that considering stochastic packet losses is more realistic, as discussed in Verriest and Michiels (2009) and in Qin et al (2014Qin et al ( , 2015. Considering τ (k)−1 consecutive packet losses, the control law becomeṡ…”

Section: Effects Of Packet Lossesmentioning

confidence: 99%

Predictor Design for Connected Cruise Control Subject to Packet Loss

et al. 2015

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In this work connected cruise control with digital controllers is investigated for a vehicular string on a single lane. The longitudinal control of each vehicle is based on the information broadcast by other vehicles via wireless communication. We demonstrate that intermittencies and packet loss introduce time-dependent time delays in the control loop that may destabilize the system. We analyze the plant and string stability and construct predictors to attenuate the destabilizing effects of the imperfections in the communication.

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Section: Effects Of Packet Lossesmentioning

confidence: 99%

Predictor Design for Connected Cruise Control Subject to Packet Loss

et al. 2015

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“…Indeed, the curves given by (8) and (9) change with γ . For γ = 0 they are the stability boundaries, while for γ = 0 they produce diagrams which we refer as generalized stability charts.…”

Section: Generalized Stability Charts For Constant Weight Functionmentioning

confidence: 99%

“…Practical examples include the design of the cutting profile of helical milling tools in machining [3,4], where the delay distributions originate from spatial force distributions. Similar ideas may also be used when designing transmission protocols for vehicle-to-vehicle communication in connected vehicle systems [7,8]. Here the delay distributions originate from stochastic delay variations.…”

Section: Introductionmentioning

confidence: 99%

“…Note that for d 1 = 0 (18,20) reproduces (8,9). In order to investigate how the design limitations change in the complex plane we again compute where the Hopf curves (self-)intersect, resulting in two independent frequencies ω 1 , ω 2 .…”

Section: Designing a Pair Of Complex Conjugate Eigenvaluesmentioning

confidence: 99%

“…Applications include vibration absorbers [1,2], machining processes [3,4], vehicle steering [5,6], and connected vehicles [7,8]. Of special interest are the rightmost eigenvalues that are also called dominant or leading eigenvalues.…”

Section: Introductionmentioning

confidence: 99%

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This paper focuses on the problem of designing the rightmost eigenvalues of linear scalar distributed delay systems. We consider two different but complementary methods: generalized stability charts and matrix Lambert W functions. The generalized stability charts are based on the intersection of Hopf and fold surfaces that provide important insight into the problem, but the geometry of the surfaces may become complicated for certain delay distributions. The Lambert W function approach can be applied to general delay distributions, but requires numerical solutions which can suffer from convergence problems. We present some examples using both approaches.

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Security‐aware optimal actuator placement in vehicle platooning

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Vehicle platooning, as a large class of cyber-physical systems, is prone to be under the risk of cyber attacks. One (or more) external intelligent intruder(s) might attack one (or more) of the vehicles participating in a platoon. This paper proposes a general approach to find an optimal actuator placement strategy according to the Stackelberg game between the attacker and the defender. The game payoff is the energy needed by the attacker to steer the consensus follower-leader dynamics of the system towards his desired direction. The attacker tries to minimize this energy while the defender attempts to maximize it. Thus, based on the defined game and its optimal equilibrium point, the defender(s) selects optimal actuator placement action to face the attacker(s).Both cases of single attacker-single defender and multiple attackers-multiple defenders cases are investigated. Furthermore, we study the effects of different information flow topologies, namely, the unidirectional and bidirectional data transfer structures. Besides, the impacts of increasing the connectivity among the nodes on the security level of the platoon are presented. Simulation results for h-nearest neighbor platoon formations along with experimental results using the scaled cars governed by robotic operating system (ROS) verify the effectiveness of the method.

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Stability analysis of connected cruise control with stochastic delays

Cited by 46 publications

References 9 publications

Predictor Design for Connected Cruise Control Subject to Packet Loss

Predictor Design for Connected Cruise Control Subject to Packet Loss

Spectrum design using distributed delay

Security‐aware optimal actuator placement in vehicle platooning

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