Abstract
This paper investigates the problem of centralized look ahead (CLA) consensus of connected automated vehicles convoys (CAVC) based on sample data control in the presence of measurement delay and engine’s lag. A double-integrator model is considered to describe the 1-D motion of automated vehicles (AVs). In the practical implementation, data loss and time delay are unavoidable in CAVC networks. Therefore, these issues are considered in modeling and control design of CAVCs and a CLA consensus is defined for all following AVs. By employing the Lyapunov-Krassovskii theorem, the sufficient conditions guaranteeing the zero tracking error of CAVCs in the presence of delay and data loss are derived. Then, by doing the error proliferation analysis in the frequency domain, sufficient conditions on control parameters assuring string stability are attained. Numerical studies are carried out to confirm the performance of the proposed consensus algorithm.
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