Nonlinear Longitudinal Control for Heterogeneous Connected Vehicle Platoon in the Presence of Communication Delays

被引：0
|
作者：
Li Y.-F. [1 ]
He C.-P. [1 ]
Zhu H. [1 ]
Zheng T.-X. [1 ]
机构：
[1] Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2021年 / 47卷 / 12期
基金：
中国国家自然科学基金; 国家重点研发计划;
关键词：
Car-following interactions; Communication delays; Consensus strategy; Heterogeneous vehicle platoon; Nonlinear control;
D O I：
10.16383/j.aas.c190442
中图分类号：
学科分类号：
摘要：
This paper proposes a distributed nonlinear longitudinal controller for the connected vehicle platoon in the presence of communication delay based on the third-order model. Firstly, the third-order based dynamic model is used to characterize the heterogeneity of a vehicle. A new nonlinear controller for connected vehicle platoon is proposed in the presence of car-following interactions and communication delays. The proposed controller not only can ensure the consensus for vehicles in the platoon in terms of position, velocity and acceleration/deceleration under the influence of communication delay and vehicle heterogeneity, but also effectively avoid negative spacing error and unreasonable acceleration/deceleration, so as to guarantee that the behavior of vehicles is consistent with the traffic flow theory. Then, the stability condition of the vehicle platoon and the upper bound of the communication delay are derived using the Lyapunov-Krasovskii theorem. Finally, the effectiveness and stability of the proposed controller are verified by numerical simulations. Copyright ©2021 Acta Automatica Sinica. All rights reserved.
引用
收藏
页码：2841 / 2856
页数：15
相关论文
共 30 条
  • [1] Van Arem B, Van Driel G, Visser R., The impact of cooperative adaptive cruise control on traffic-flow characteristics, IEEE Transact ions on Intelligent Transportation Systems, 7, 4, pp. 429-436, (2006)
  • [2] Varaiya P., Smart cars on smart roads: problems of control, IEEE Transactions on Automatic Control, 38, 2, pp. 195-207, (1993)
  • [3] Zhang J P, Wang F Y, Wang K F, Lin W H, Xu X, Chen C., Data-driven intelligent transportation systems: a survey, IEEE Transactions on Intell igent Transportation Systems, 12, 4, pp. 1624-1639, (2011)
  • [4] Ren W., Consensus based formation control strategies for multi-vehicle systems, Proceedings of the 25th American Control Conference, pp. 4237-4242, (2006)
  • [5] Guo G, Wen S., Communication scheduling and control of a platoon of vehicles in vanets, IEEE Transactions on Intelligent Transportation Systems, 17, 6, pp. 1551-1563, (2016)
  • [6] Liu Y, Pan C, Gao H, Guo G., Cooperative spacing control for interconnecte d vehicle systems with input delays, IEEE Transactions on Vehicular Technology, 66, 12, pp. 10692-10704, (2017)
  • [7] Zheng Y, Li S E, Wang J Q, Cao D P, Li K Q., Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies, IEEE Transactions on Intelligent Transportation Systems, 17, 1, pp. 14-26, (2016)
  • [8] Li Y F, Tang C C, Li K Z, Peeta S, He X Z, Wang Y B., Nonlinear finite-time consensus-based connected vehicle platoon control under fixed and switching communication topologies, Transportation Research Part C: Emerging Technologies, 19, pp. 525-543, (2018)
  • [9] Guo G, Wang L., Control over medium-constrained vehicular networks with fading channels and random access protocol: a networked systems approach, IEEE Transactions on Vehicular Technology, 64, 8, pp. 3347-3358, (2015)
  • [10] Peters A A, Middleton R H, Mason O., Leader tracking in homogeneous vehicle platoons with broadcast delays, Automatica, 50, 1, pp. 64-74, (2014)
123