Design of Switching Controller for Connected Vehicles Platooning With Intermittent Communication via Mode-Dependent Average Dwell-Time Approach

Abstract

In real life, due to the influence of environment and physical equipments, C-V2X wireless communication network connection is prone to be intermittent. When intermittent communication occurs, the vehicle cannot make correct control decisions because it cannot receive the required information from neighboring vehicles, which will lead to the deterioration of the performance of the vehicle platoon. Considering the intermittent information connection of the leading vehicle through C-V2X communication network, a robust control method is proposed to realize vehicle platoon control. The platoon control strategy of a connected vehicle system is designed based on the mode-dependent average dwell time (MDADT) method. The designed strategy has better performance in reducing conservatism and improving flexibility, by comparison with the average dwell time (ADT) method. Moreover, based on the designed switching strategy, the sufficient conditions for the platoon control system to meet the exponential stability and exponential <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$L_{2}$ </tex-math></inline-formula> performance are analyzed, and then, the linear matrix inequalities for solving the controller gain are given. Furthermore, the designed method has an advantage in applying to a variety of communication topologies. Finally, the effectiveness of the proposed robust control method in the case of intermittent communication in leading vehicle’s information transmission is verified by simulation.