Distributed Adaptive Consensus Protocol for Connected Vehicle Platoon With Heterogeneous Time-Varying Delays and Switching Topologies

被引：26
作者：
Yu, Guokuan [1 ]
Wong, Pak Kin [2 ]
Huang, Wei [3 ]
Zhao, Jing [2 ]
Wang, Xian-Bo [4 ]
Yang, Zhi-Xin [2 ,5 ]
机构：
[1] Guizhou Normal Univ, Sch Mech & Elect Engn, Guiyang 550025, Peoples R China
[2] Univ Macau, Dept Electromech Engn, Macau, Peoples R China
[3] Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350108, Peoples R China
[4] Henan Univ Technol, Coll Elect Engn, Zhengzhou 450001, Peoples R China
[5] Univ Macau, State Key Lab Internet Things Smart City, Macau, Peoples R China
来源：
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2022年 / 23卷 / 10期
基金：
中国国家自然科学基金;
关键词：
Topology; Delays; Switches; Linear matrix inequalities; Connected vehicles; Vehicle dynamics; Time-varying systems; Vehicle platoon; switching topology; distributed consensus control; time-varying delay; delay-range-dependent approach; CRUISE CONTROL; STRING STABILITY; CONTROLLER SYNTHESIS; MULTI-AGENTS; SYSTEMS;
D O I：
10.1109/TITS.2022.3170437
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
This paper studies the distributed consensus protocol for the connected vehicle platoon with heterogeneous time-varying delays and switching topologies. A third-order dynamics model with powertrain inertial lag is proposed to characterize the node longitudinal dynamics of vehicles in platoon. A novel distributed adaptive consensus protocol considering the time-varying delays and the random switched inter-vehicular communication topologies is designed to stabilize the heterogeneous vehicle platoon in the presence of external disturbance. The delay-range-dependent approach is used to deal with the system heterogeneous time-varying delays by considering the characteristics of the heterogeneous platoon. Directed graphs are adopted to describe the accessible information flow among vehicles. The necessary and sufficient conditions for the unified closed-loop vehicle platoon system are derived by using matrix analysis and Lyapunov-Krasovskii approach. Numerical simulations demonstrate the proposed method is effective.
引用
收藏
页码：17620 / 17631
页数：12
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